US 12,156,711 B2 · Master-to-slave orientation mapping when misaligned

Abstract

A system includes an input control, an instrument, a memory storing instructions, and one or more processors coupled to the memory. A first axis of a first coordinate frame is defined along a length of the input control and is associated with an orientation of the input control. A second axis of a second coordinate frame is defined along a length of the instrument and is associated with an orientation of the instrument. When executing the instructions, the one or more processors perform steps including, while in a following state, receiving a first command corresponding to a rotation of the input control about the first axis, in response to the first command, generating a second command to rotate the instrument around the second axis without rotating the instrument around any axis orthogonal to the second axis, and controlling movement of the instrument according to the second command.

Claims20

Dependent claims

A computer-assisted system comprising:

an input control device, a first axis of a first coordinate frame being defined along a length of the input control device and the first coordinate frame being associated with an orientation of the input control device;
an instrument, a second axis of a second coordinate frame being defined along a length of the instrument and the second coordinate frame being associated with an orientation of the instrument;
a memory storing instructions;
and
one or more processors coupled to the memory and, when executing the instructions performs steps comprising, while in a following state:
receiving a first command corresponding to a rotation of the input control device about the first axis,
in response to the first command, generating a second command to rotate the instrument around the second axis without rotating the instrument around any axis orthogonal to the second axis, and
controlling movement of the instrument according to the second command.

5 more elements

A non-transitory computer-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a robotic system comprising an input control device and an instrument are adapted to cause the one or more processors to perform a method comprising:

receiving a first command corresponding to a rotation of the input control device about a first axis of a first coordinate frame being defined along a length of the input control device and the first coordinate frame being associated with an orientation of the input control device;
in response to the first command, generating a second command to rotate the instrument around a second axis of a second coordinate frame without rotating the instrument around any axis orthogonal to the second axis, the second coordinate frame being defined along a length of the instrument and the second coordinate frame being associated with an orientation of the instrument;
and
controlling movement of the instrument according to the second command.

1 more element

Dependencies are inferred from the claim text.

Master-to-slave orientation mapping when misaligned

Life of this patent

Master-to-slave orientation mapping when misaligned

Life of this patent

Abstract

Claims20