Controlling roll for a device in a computer-assisted medical system
AssigneeIntuitive Surgical Operations, Inc.
InventorNicholas Bernstein
Life of this patent
Estimating the term…
Abstract
Roll control is provided for a device by controlling the roll-angle offset about the device roll axis in correspondence to a specified rotation of a reference frame for the device. This specified rotation may correspond to a roll-free rotation of the reference frame to align a corresponding reference roll axis with the device roll axis. In applications to robotics generally, the device may be characterized as a robotic element or a robotically-supported instrument. In specific applications to robotic surgery in a computer-assisted medical system, the device may include a spar or cannula that is configured to support a surgical instrument.
Claims36
A method of controlling roll for a device in a computer-assisted medical system, the method comprising:
- specifying a reference frame that corresponds to a reference orientation for the device, the reference frame including a reference yaw axis, a reference pitch axis, and a reference roll axis;
- accessing values for a device frame that corresponds to an orientation of the device, the device frame including a device yaw axis, a device pitch axis, and a device roll axis;
- determining a roll-angle offset about the device roll-axis, the roll-angle offset characterizing an angular difference about the device roll axis between the device frame and a roll-axis-alignment rotation of the reference frame, and the roll-axis-alignment rotation corresponding to a rotation about a combination of the reference yaw axis and the reference pitch axis to align the reference roll axis with the device roll axis;
- and
- controlling roll for the device by controlling the roll-angle offset about the device roll axis.
A computer-assisted medical system comprising at least one computer configured to perform operations for computer-implemented modules including:
- a reference-frame module configured to specify a reference frame that corresponds to a reference orientation for the device, the reference frame including a reference yaw axis, a reference pitch axis, and a reference roll axis;
- a device-frame module configured to access values for a device frame that corresponds to an orientation of the device, the device frame including a device yaw axis, a device pitch axis, and a device roll axis;
- a roll-angle module configured to determine a roll-angle offset about the device roll axis, the roll-angle offset characterizing an angular difference about the device roll axis between the device frame and a roll-axis-alignment rotation of the reference frame, and the roll-axis-alignment rotation corresponding to a rotation about a combination of the reference yaw axis and the reference pitch axis to align the reference roll axis with the device roll axis;
- and
- a roll-control module configured to control roll for the device by controlling the roll-angle offset about the device roll axis.
A computer-readable medium that stores a computer program for controlling roll for a device in a computer-assisted medical system, the computer program including computer-program instructions that, when executed by at least one computer, cause the at least one computer to perform operations comprising:
- specifying a reference frame that corresponds to a reference orientation for the device, the reference frame including a reference yaw axis, a reference pitch axis, and a reference roll axis;
- accessing values for a device frame that corresponds to an orientation of the device, the device frame including a device yaw axis, a device pitch axis, and a device roll axis;
- determining a roll-angle offset about the device roll axis, the roll-angle offset characterizing an angular difference about the device roll axis between the device frame and a roll-axis-alignment rotation of the reference frame, and the roll-axis-alignment rotation corresponding to a rotation about a combination of the reference yaw axis and the reference pitch axis to align the reference roll axis with the device roll axis;
- and
- controlling roll for the device by controlling the roll-angle offset about the device roll axis.
Dependencies are inferred from the claim text.