Dynamic input scaling for controls of robotic surgical system
AssigneeCovidien LP
InventorBrock Kopp
Life of this patent
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Abstract
A robotic surgical system includes an arm, a tool, an input controller, and a processing unit. The arm includes an end that supports the tool which is moveable an output distance within a surgical site. The input controller is movable an input distance at an input velocity and acceleration. The processing unit is in communication with the input controller and is operatively associated with the arm to move the tool the output distance. The processing unit is configured to dynamically scale the output distance in response to the input distance, velocity, and/or acceleration.
Claims20
A robotic surgical system comprising:
- a robotic arm supporting a surgical tool;
- an input controller movable in at least three dimensions;
- a sensor detecting a movement distance and at least one of a movement velocity and an acceleration of the input controller as the input controller is moved in the at least three dimensions;
- and
- a processing unit operatively associated with the robotic arm to move the tool an output distance, configured to dynamically scale the movement distance based on at least one of the movement velocity and the acceleration, and configured to calculate the output distance from the dynamic scaling.
A method of operating a surgical robot, the method comprising:
- identifying a movement distance and movement velocity of an input controller of a robotic surgical system moveable in at least three dimensions;
- dynamically scaling the identified movement distance based on the identified movement velocity;
- and
- moving a surgical tool coupled to a robotic arm based on the dynamically scaled movement distance.
Dependencies are inferred from the claim text.