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US 12,318,164 B2Granted
Systems and methods for controlling a robotic manipulator or associated tool
AssigneeIntuitive Surgical Operations, Inc.
InventorsSimon P. DiMaio, Mark Froggatt, Xingchi He, Govinda Payyavula, David W. Robinson
Life of this patent
Estimating the term…
Abstract
A system includes a tool, an input device, a shape sensor system, and a processing unit. The processing unit is configured to determine a state estimate of the input device based on shape information from the shape sensor system, and control the tool based on the state estimate.
Claims18
A system comprising:
- a tool coupled to a tele-operational manipulator;
- an input device for tele-operationally controlling the tool,
- wherein the input device is connected to a base via a kinematic chain;
- a connection structure connecting the input device for tele-operationally controlling the tool and a base, wherein a shape sensor system is configured to provide shape information of the connection structure,
- wherein a distal end of the shape sensor system and a location of a local sensor system located at the input device are physically fixed with respect to one another;
- and
- a processing unit configured to:
- calibrate a fixed transformation between a shape sensor termination frame fixed to the distal end of the shape sensor system and a local sensor frame of reference;
- determine a configuration of the kinematic chain based on the shape information from the shape sensor system;
- determine a state estimate of a state of the input device based on shape information from the shape sensor system, local measurement data of the input device from the local sensor system, and the configuration of the kinematic chain,
- wherein the state includes a motion state including one or more of a velocity and an acceleration of the input device;
- and
- control, using the tele-operational manipulator, the tool based on the state estimate of the input device.
10 more elements
A method, comprising:
- receiving shape information from a shape sensor system, wherein the shape sensor system is associated with a connection structure connecting an input device for tele-operationally controlling a tool and a base;
- wherein the input device is connected to a base via a kinematic chain;
- wherein a distal end of the shape sensor system and a location of a local sensor system located at the input device are physically fixed with respect to one another;
- wherein the tool is coupled to a tele-operational manipulator;
- calibrating a fixed transformation between a shape sensor termination frame fixed to the distal end of the shape sensor system and a local sensor frame of reference;
- determining a configuration of the kinematic chain based on the shape information from the shape sensor system;
- determining a state estimate of a state of the input device based on the shape information, local measurement data of the input device from the local sensor system, and the configuration of the kinematic chain,
- wherein the state includes a motion state including one or more of a velocity and an acceleration of the input device;
- and
- controlling, using the tele-operational manipulator, the tool based on the state estimate of the input device.
7 more elements
A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which, when executed by one or more processors, are adapted to cause the one or more processors to perform a method comprising:
- receiving shape information from a shape sensor system associated with a connection structure connecting an input device for tele-operationally controlling a tool and a base,
- wherein the input device is for tele-operationally controlling a tool;
- wherein a distal end of the shape sensor system and a location of the local sensor system are physically fixed with respect to one another;
- wherein the tool is coupled to a tele-operational manipulator;
- calibrating a fixed transformation between a shape sensor termination frame fixed to the distal end of the shape sensor system and a local sensor frame of reference;
- determining a configuration of the kinematic chain based on the shape information from the shape sensor system;
- determining a state estimate of a state of the input device based on the shape information, local measurement data of the input device from the local sensor system, and the configuration of the kinematic chain,
- wherein the state includes a motion state including one or more of a velocity and an acceleration of the input device;
- and
- controlling, using the tele-operational manipulator, the tool based on the state estimate of the input device.
7 more elements
Dependencies are inferred from the claim text.