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US 12,220,193 B2Granted
Haptic feedback for aligning robotic arms
AssigneeAuris Health, Inc.
InventorMingyen Ho
Life of this patent
Estimating the term…
Abstract
Techniques relate to aligning one or more robotic arms of a robotic system to one or more alignment positions. For example, resistance for manual movement of a robotic arm can be set based on a direction of movement of a distal end of the robotic arm with respect to one or more alignment positions. The robotic arm can provide a first amount of resistance for manual movement in a direction closer to the one or more alignment positions and to provide a second amount of resistance for manual movement in a direction away from the one or more alignment positions. In some instances, the robotic arm can be automatically moved to the one or more alignment positions when the robotic arm is within a distance to the one or more alignment positions.
Claims30
A system comprising:
- a first robotic arm;
- a second robotic arm configured to couple to a medical instrument;
- and
- control circuitry communicatively coupled to the first robotic arm and the second robotic arm and configured to:
- based at least in part on a position of a distal end of the first robotic arm, determine a plurality of alignment positions for a distal end of the second robotic arm, the plurality of alignment positions associated with a virtual rail that is aligned with the distal end of the first robotic arm;
- set a resistance for manual movement of the second robotic arm based at least in part on a direction of movement of the distal end of the second robotic arm with respect to the plurality of alignment positions;
- determine that manual movement of the second robotic arm has ceased for more than a period of time;
- determine that the distal end of the second robotic arm is positioned within a threshold distance to a first alignment position of the plurality of alignment positions;
- and
- automatically move the second robotic arm to the first alignment position based at least in part on determining that manual movement of the second robotic arm has ceased for more than the period of time and determining that the distal end of the second robotic arm is positioned within the threshold distance to the first alignment position.
7 more elements
One or more non-transitory computer-readable media storing computer-executable instructions that, when executed by control circuitry, cause the control circuitry to perform operations comprising:
- based at least in part on a position of a distal end of a first robotic arm, determining a plurality of alignment positions for a distal end of a second robotic arm that is configured to couple to a medical instrument, the plurality of alignment positions representing a virtual rail that is aligned with the distal end of the first robotic arm;
- configuring the second robotic arm to provide a first amount of resistance for manual movement in a direction closer to at least one of the plurality of alignment positions and to provide a second amount of resistance for manual movement in a direction away from at least one of the plurality of alignment positions;
- determining that the second robotic arm is moving farther from at least one of the plurality of alignment positions with respect to at least one dimension;
- and
- increasing the second amount of resistance for manual movement of the second robotic arm in the direction away from at least one of the plurality of alignment positions.
2 more elements
A robotic system comprising:
- a robotic arm configured to:
- couple to a medical instrument;
- provide a first amount of resistance for manual movement of the robotic arm in a direction closer to one or more alignment positions, at least one of the one or more alignment positions representing a previous position of a distal end of the robotic arm;
- and
- provide a second amount of resistance for manual movement of the robotic arm in a direction farther from the one or more alignment positions;
- and
- control circuitry communicatively coupled to the robotic arm and configured to:
- determine that the robotic arm is moving farther from the one or more alignment positions with respect to at least one dimension;
- and
- increase the second amount of resistance for manual movement of the robotic arm in the direction away from the one or more alignment positions.
7 more elements
A method comprising:
- determining, by control circuitry, one or more alignment positions for a distal end of a robotic arm that is configured to couple to a medical instrument, at least one of the one or more alignment positions representing a previous position of the distal end of the robotic arm;
- configuring, by the control circuitry, the robotic arm to provide a first amount of resistance for manual movement of the robotic arm in a direction closer to the one or more alignment positions and to provide a second amount of resistance for manual movement in a direction away from the one or more alignment positions;
- determining that the distal end of the robotic arm has reached a first alignment position of the one or more alignment positions;
- and
- configuring the robotic arm to provide a third amount of resistance for manual movement of the robotic arm from the first alignment position to a second alignment position of the one or more alignment positions, the third amount of resistance being less than the first amount of resistance.
2 more elements
A robotic system comprising:
- a robotic arm configured to couple to a medical instrument;
- and
- control circuitry communicatively coupled to the robotic arm and configured to:
- determine one or more alignment positions for a distal end of the robotic arm;
- configure the robotic arm to provide a first amount of resistance for manual movement of the robotic arm in a direction closer to the one or more alignment positions and to provide a second amount of resistance for manual movement in a direction away from the one or more alignment positions;
- determine that the distal end of the robotic arm has reached a first alignment position of the one or more alignment positions;
- and
- configure the robotic arm to provide a third amount of resistance for manual movement of the robotic arm from the first alignment position to a second alignment position of the one or more alignment positions, the third amount of resistance being less than the first amount of resistance.
5 more elements
Dependencies are inferred from the claim text.