Method and system for mitigating collision of surgical robot
AssigneeMeere Company Inc.
InventorsJong Do Choi, Tae Won Kim
Life of this patent
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Abstract
This application relates to a method of mitigating a collision of a slave robot for surgery. In one aspect, the method includes obtaining an external torque generated when the slave robot collides with another object or a person and obtaining a joint angle of the slave robot. The method may also include calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated. The method may further include controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle.
Claims10
A method of mitigating a collision of a slave robot for surgery, the method comprising:
- first obtaining an external torque generated in response to the slave robot colliding with another object or a person;
- second obtaining a joint angle of the slave robot;
- calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated;
- controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle;
- comparing the obtained external torque with a reference value;
- repeatedly performing a cycle of the first obtaining, second obtaining, calculating, controlling and comparing, in response to the obtained external torque being equal to or greater than the reference value;
- measuring a period in which the cycle is repeatedly performed;
- and
- controlling the slave robot not to move in response to the measured period being equal to or longer than a preset period.
A robot system for surgery, the robot system comprising:
- a master console configured to be operated by an operator;
- a slave robot configured to move based on a manipulation on the master console;
- and
- at least one processor configured to control a movement of the slave robot such that a collision between the slave robot and another object or person is weakened, the at least one processor further configured to:
- first obtain an external torque that is generated in response to the slave robot colliding with another object or person;
- second obtain a joint angle of the slave robot;
- calculate a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated;
- control the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle;
- compare the obtained external torque with a reference value;
- repeatedly perform a cycle of the first obtaining, second obtaining, calculating, controlling and comparing, in response to the obtained external torque being equal to or greater than the reference value;
- measure a period in which the cycle is repeatedly performed;
- and
- control the slave robot not to move in response to the measured period being equal to or longer than a preset period.
A non-transitory computer recording medium storing instructions to perform a method of mitigating a collision of a slave robot for surgery, the method comprising:
- first obtaining an external torque generated in response to the slave robot colliding with another object or a person;
- second obtaining a joint angle of the slave robot;
- calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated;
- controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle;
- comparing the obtained external torque with a reference value;
- repeatedly performing a cycle of the first obtaining, second obtaining, calculating, controlling and comparing, in response to the obtained external torque being equal to or greater than the reference value;
- measuring a period in which the cycle is repeatedly performed;
- and
- controlling the slave robot not to move in response to the measured period being equal to or longer than a preset period.
Dependencies are inferred from the claim text.