Back to results
US 12,268,460 B2Granted
Systems and methods for saturated robotic movement
AssigneeAuris Health, Inc.
InventorsYanan Huang, Nima Sarli, Ying Mao, David Stephen Mintz
Life of this patent
Estimating the term…
Abstract
Robotic medical systems may perform robotic movement that is saturated according to one or more constraints of the system. A robotic system can include a robotic arm configured to control a medical instrument. The robotic system can receive a first user input from a user for moving the robotic arm to control the medical instrument. The robotic system can guide the movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints.
Claims22
A robotic system, comprising:
- a robotic arm configured to control a medical instrument, wherein the medical instrument is configured to be inserted into a patient via a point of entry;
- at least one processor;
- and
- at least one computer-readable memory in communication with the at least one processor and having stored thereon computer-executable instructions to cause the at least one processor to:
- receive a first user input from a user for moving the robotic arm to control the medical instrument;
- and
- guide a movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints, wherein the guiding of the movement of the robotic arm along the collision boundary comprises satisfying a constraint associated with the point of entry.
4 more elements
A robotic system, comprising:
- a robotic arm configured to control a medical instrument;
- at least one processor;
- and
- at least one computer-readable memory in communication with the at least one processor and having stored thereon computer-executable instructions to cause the at least one processor to:
- receive a first user input from a user for moving the robotic arm to control the medical instrument;
- guide a movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints;
- and
- guide the movement of the robotic arm while saturating a velocity constraint.
5 more elements
A robotic system, comprising:
- a robotic arm configured to control a medical instrument;
- a master controller configured to receive a first user input from a user;
- at least one processor;
- and
- at least one computer-readable memory in communication with the at least one processor and having stored thereon computer-executable instructions to cause the at least one processor to:
- receive the first user input from the user for moving the robotic arm to control the medical instrument;
- guide a movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints;
- and
- control the master controller to provide haptic feedback to the user in response to a determination that moving the robotic arm according to the first user input would cause a contact point of the robotic arm to come into contact with or cross the collision boundary.
6 more elements
A robotic system, comprising:
- a robotic arm configured to control a medical instrument;
- at least one processor;
- and
- at least one computer-readable memory in communication with the at least one processor and having stored thereon computer-executable instructions to cause the at least one processor to:
- receive a first user input from a user for moving the robotic arm to control the medical instrument;
- guide a movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints, wherein the one or more secondary constraints comprise a first constraint and a second constraint;
- determine a first severity metric associated with the first constraint;
- determine a second severity metric associated with the second constraint;
- compare the first severity metric to the second severity metric;
- and
- determine whether to guide the movement of the robotic arm in accordance with the first constraint or the second constraint based on the comparison of the first severity metric to the second severity metric.
8 more elements
A robotic system, comprising:
- a robotic arm configured to control a medical instrument;
- at least one processor;
- and
- at least one computer-readable memory in communication with the at least one processor and having stored thereon computer-executable instructions to cause the at least one processor to:
- receive a first user input from a user for moving the robotic arm to control the medical instrument;
- determine that moving the robotic arm according to the first user input would move a joint of the robotic arm at a first velocity that exceeds a joint maximum velocity;
- guide a movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints;
- and
- guide the movement of the robotic arm at a second velocity that is less than the joint maximum velocity when moving the robotic arm according to the first user input would move the joint of the robotic arm at the first velocity that exceeds the joint maximum velocity.
6 more elements
A robotic system, comprising:
- a robotic arm configured to control a medical instrument;
- at least one processor;
- and
- at least one computer-readable memory in communication with the at least one processor and having stored thereon computer-executable instructions to cause the at least one processor to:
- receive a first user input from a user for moving the robotic arm to control the medical instrument;
- determine that moving the robotic arm according to the first user input would cause a contact point of the robotic arm to move within a threshold distance of a collision boundary surrounding an object;
- and
- guide a movement of the robotic arm along the collision boundary surrounding the object in accordance with the first user input and one or more secondary constraints, wherein the guiding of the movement of the robotic arm along the collision boundary is performed when moving the robotic arm according to the first user input would cause the contact point of the robotic arm to move within the threshold distance.
5 more elements
Dependencies are inferred from the claim text.