Automatic motion control of a dependent surgical robotic arm
AssigneeKoninklijke Philips N.V.
InventorAleksandra Popovic
Life of this patent
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Abstract
A motion dependency surgical robotic system (100) employs an independent robotic arm (20), a dependent robotic arm (21), and a motion dependency robot controller (104). In operation, the motion dependency robot controller (104) controls an independent motion of the independent robotic arm (20) within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm (20) within the coordinate space, and further controls a motion of the dependent robotic arm (21) within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm (20) and the dependent robotic arm (21) within the coordinate space.
Claims20
A motion dependency surgical robotic system comprising:
- an independent robotic arm;
- a dependent robotic arm;
- and
- a motion dependency robot controller in communication with the independent robotic arm and the dependent robotic arm, the motion dependency robot controller configured to:
- control a motion of the independent robotic arm within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm within the coordinate space, and
- control a motion of the dependent robotic arm within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm and the dependent robotic arm within the coordinate space.
A motion dependency robot controller for controlling an independent robotic arm and a dependent robotic arm, the motion dependency robot controller comprising:
- an independent motion vector generator configured to generate an independent motion vector signal for controlling a motion of an independent robotic arm within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm within the coordinate space;
- an independent robotic arm actuator configured to generate independent actuation commands instructive of the motion of the independent robotic arm within the coordinate space responsive to a generation of the independent motion vector signal by the independent motion vector generator;
- a dependent motion vector generator configured to generate, responsive to the generation of the independent motion vector signal by the independent motion vector generator, a dependent motion vector signal for controlling a motion of the dependent robotic arm within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm and the dependent robotic arm within the coordinate space;
- and
- a dependent robotic arm actuator configured to generate actuation commands instructive of the motion of the dependent robotic arm within the coordinate space responsive to a generation of the dependent motion vector signal by the dependent motion vector generator.
A motion dependency robot control method for a motion dependency surgical robotic system including an independent robotic arm, a dependent robotic arm, and a motion dependency robot controller, the motion dependency robot control method comprising:
- controlling, by the motion dependency robot controller, a motion of the independent robotic arm within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm within the coordinate space;
- and
- controlling, by the motion dependency robot controller, a motion of the dependent robotic arm within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm and the dependent robotic arm within the coordinate space.
Dependencies are inferred from the claim text.