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US 12,064,877 B2Granted
Input shaper for robotic surgical system
AssigneeCovidien LP
InventorsWilliam J. Peine, Stefan Joerg, Paul M. Loschak, Reuben Hale, Campbell M. Dixon
Life of this patent
Estimating the term…
Abstract
Input shapers for control inputs to the robotic surgical system and their method of controlling a linkage of a robot with a controller includes receiving a desired joint angle of a joint of the robot; and transmitting a first control signal to a motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint.
Claims18
A method of controlling a linkage of a robot with a controller, the method comprising:
- receiving a desired joint angle of a joint of the robot;
- transmitting a first control signal to a motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint;
- generating the desired joint velocity by calculating a phase shift of the joint based on a resonant frequency of the joint;
- and
- upon the phase shift exceeding or equaling 180 degrees, determining a phase ratio, and adding the phase ratio to the first control signal.
2 more elements
A surgical robot comprising:
- a linkage configured to support a tool, the linkage having a joint;
- a motor operably coupled to the joint and configured to actuate the joint to vary a joint angle of the joint;
- and
- a controller configured to:
- receive a desired joint angle of the joint;
- transmit a first control signal to the motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint;
- generate the desired joint velocity by calculating a phase shift of the joint based on a resonant frequency of the joint;
- and
- upon the phase shift exceeding or equaling 180 degrees, determine a phase ratio, and add the phase ratio to the first control signal.
6 more elements
A robotic surgical system comprising:
- a user interface configured to receive input from a user and to transmit an input signal;
- and
- a surgical robot including:
- a linkage configured to support a tool, the linkage having a joint;
- a motor operably coupled to the joint and configured to actuate the joint to vary a joint angle of the joint;
- and
- a controller configured to:
- receive the input signal including a desired joint angle of the joint;
- transmit a first control signal to the motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint;
- generate the desired joint velocity by calculating a phase shift of the joint based on a resonant frequency of the joint;
- and
- upon the phase shift exceeding or equaling 180 degrees, determine a phase ratio, and add the phase ratio to the first control signal.
9 more elements
Dependencies are inferred from the claim text.