System and method of controlling motion of kinematic chains
AssigneeAuris Health, Inc.
InventorsNadia S. Kreciglowa, Yanan Huang, Ying Mao, Eloi Le Roux
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Abstract
Robotic systems can be capable of commanding bar translation. A robotic system can include a robotically controlled first kinematic chain, a robotically controlled second kinematic chain that is movably coupled to the first kinematic chain, and a controller that is communicably coupled to the first kinematic chain and the second kinematic chain. The robotic system can be figured to obtain data corresponding to the first kinematic chain, and control movement of the second kinematic chain in accordance with the data corresponding to the first kinematic chain.
Claims39
A robotic system, comprising:
- a robotically controlled first kinematic chain;
- a robotically controlled second kinematic chain that is movably coupled to the first kinematic chain;
- a robotically controlled third kinematic chain that is movably coupled to the second kinematic chain;
- and
- a controller that is communicably coupled to the first kinematic chain and the second kinematic chain, the controller including one or more processors and memory storing instructions,
- wherein the instructions, when executed by the one or more processors, cause the processors to:
- obtain data corresponding to the first kinematic chain;
- control movement of the second kinematic chain in accordance with the data corresponding to the first kinematic chain;
- and
- control movement of the third kinematic chain in accordance with the movement of the second kinematic chain.
A robotic medical system, comprising:
- a patient support platform;
- a first kinematic chain;
- and
- a second kinematic chain, wherein:
- the first kinematic chain is movably coupled to the second kinematic chain, and
- the robotic medical system includes a controller comprising one or more processors and memory storing instructions,
- wherein the instructions, when executed by the one or more processors, cause the processors to:
- adjust a spatial configuration of the first kinematic chain relative to the patient support platform in accordance with user input directed to the first kinematic chain;
- and
- in accordance with a determination that preset criteria are met during adjustment of the spatial configuration of the first kinematic chain in accordance with the user input directed to the first kinematic chain, activate automatic movement of the second kinematic chain relative to the patient support platform.
A method for setting up a robotic medical system, the robotic medical system including a first kinematic chain and a second kinematic chain that is movably coupled the first kinematic chain, the method comprising:
- obtaining first data corresponding to manual manipulation of the first kinematic chain, wherein the manual manipulation of the first kinematic chain causes movement of the first kinematic chain relative to the second kinematic chain;
- and
- in accordance with a determination that the first data corresponding to manual manipulation of the first kinematic chain meets preset criteria, activating automatic movement of the second kinematic chain relative to a physical environment of the robotic medical system.
A robotic system, comprising:
- a robotically controlled first kinematic chain, the first kinematic chain comprising a first robotic arm;
- a robotically controlled second kinematic chain that is movably coupled to the first kinematic chain, the second kinematic chain comprising a rail that supports the first robotic arm;
- and
- a controller that is communicably coupled to the first kinematic chain and the second kinematic chain, the controller including one or more processors and memory storing instructions,
- wherein the instructions, when executed by the one or more processors, cause the processors to:
- obtain data corresponding to the first kinematic chain;
- and
- control movement of the second kinematic chain in accordance with the data corresponding to the first kinematic chain.
Dependencies are inferred from the claim text.