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US 2011/0160745 A1Published application
Frame Mapping and Force Feedback Methods, Devices and Systems
OwnerTim Fielding, Perry Newhookinventors
Life of this patent
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Abstract
Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to the operator, regardless of the actual position and orientation of the slave manipulator. Methods, devices, and systems relating to force feedback associated with medical robotic procedures.
Claims29
1-104. (canceled)
A method comprising:
- a. determining a calculated motion of a tool of a medical robotic arm, where wherein:
- i. the determining of the calculated motion is based on an input value received from a controller device that provides input from a user;
- and
- ii. the calculated motion is expressed in an observer coordinate system that is based on the orientation of the tool and the orientation of an observer reference structure;
- and
- b. outputting an actuation signal to move the medical robotic arm in accordance with the calculated motion.
3 more elements
111-116. (canceled)
123-129. (canceled)
A method comprising:
- a. receiving an input value from a controller device representative of a desired motion of a tool of a medical robotic arm, wherein the input value is expressed in a controller device coordinate system;
- b. determining a calculated motion of the tool based on the input value, wherein the calculated motion is expressed in an observer coordinate system that is based on the orientation of the tool and the orientation of an observer reference structure;
- c. determining a commanded motion of the medical robotic arm based on the calculated motion and the position of the medical robotic arm;
- d. outputting an actuation signal to move the medical robotic arm in accordance with the commanded motion;
- e. determining a calculated observer force value that is expressed in the observer coordinate system;
- f. determining a controller device feedback force value based on the calculated observer force value, wherein the controller device feedback force is expressed in the controller device coordinate system;
- and
- g. outputting a feedback signal to the controller device in accordance with the controller device feedback force value.
5 more elements
137-139. (canceled)
141-155. (canceled)
Dependencies are inferred from the claim text.