Robotic systems and methods for mitigating undesired orientational motion of kinematic components
AssigneeMAKO Surgical Corp.
InventorRishabh Khurana
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Abstract
A robotic surgical system includes a kinematic chain defined by components of a manipulator and a surgical tool including an energy applicator. At least one controller identifies that one or more components of the kinematic chain other than the energy applicator is either experiencing or will experience an undesired orientational motion. The at least one controller changes operation of the manipulator to mitigate for the present or expected undesired orientational motion.
Claims25
A surgical system comprising:
- a surgical tool including an energy applicator;
- a manipulator comprising a base and a plurality of links and joints and the manipulator being configured to support the surgical tool, and wherein a kinematic chain is defined by components comprising the base and plurality of links and joints of the manipulator and the surgical tool including the energy applicator;
- and
- at least one controller configured to:
- determine a feed rate defined as a velocity at which the energy applicator advances along a tool path in a semi-autonomous mode;
- control the manipulator in the semi-autonomous mode to advance the energy applicator to a plurality of commanded positions along the tool path according to the feed rate;
- identify that one or more components of the kinematic chain other than the energy applicator is either experiencing or will experience an undesired orientational motion that occurs during advancement of the energy applicator along the tool path according to the feed rate;
- and
- change the feed rate to account for the undesired orientational motion.
A method of operating a surgical system comprising a surgical tool including an energy applicator, a manipulator comprising a base and a plurality of links and joints and the manipulator supporting the surgical tool, and wherein a kinematic chain is defined by components comprising the base and plurality of links and joints of the manipulator and the surgical tool including the energy applicator, and at least one controller for:
- determining a feed rate defined as a velocity at which the energy applicator advances along a tool path in a semi-autonomous mode;
- controlling the manipulator in the semi-autonomous mode for advancing the energy applicator to a plurality of commanded positions along the tool path according to the feed rate;
- identifying that one or more components of the kinematic chain other than the energy applicator is either experiencing or will experience an undesired orientational motion occurring during advancement of the energy applicator along the tool path according to the feed rate;
- and
- changing the feed rate to account for the undesired orientational motion.
Dependencies are inferred from the claim text.