Apparatus and method for providing an adjustable positive stop in space
AssigneeMAKO Surgical Corp.
InventorHyosig Kang
Life of this patent
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Abstract
An apparatus for providing haptic guidance during manipulation of an end-effector includes a robotic arm. The robotic arm has at least one actuated joint, at least one other joint connected to the at least one actuated joint, and a physical constraint movable by actuation of the at least one actuated joint. The physical constraint limits the motion of the at least one other joint in at least one direction. The apparatus further includes an end-effector configured to be manipulated by an application of external forces and connected to the at least one other joint.
Claims20
An apparatus for providing haptic guidance during manipulation of an end-effector, comprising:
- a robotic arm having:
- at least one actuated joint,
- at least one other joint connected to the at least one actuated joint, and
- a physical constraint movable by actuation of the at least one actuated joint,
- wherein the physical constraint limits the motion of the at least one other joint in at least one direction;
- and
- an end-effector configured to be manipulated by an application of external forces and connected to the at least one other joint.
A method for controlling a user's movements of an end-effector, comprising:
- receiving a force on the end-effector of a robotic arm causing motion at joints of the robotic arm;
- determining a current position of the end-effector;
- comparing a current position of the end-effector to a predetermined location in space;
- and
- controlling a position of a physical constraint based on the comparison between the current position of the end-effector and the predetermined location in space, wherein the physical constraint is configured to prevent movement of the end-effector beyond a predetermined range of motion.
A system for providing feedback by a physical constraint, comprising:
- a robotic arm, comprising:
- a first link movable about a first axis;
- a second link coupled to the first link and movable about a second axis;
- an end-effector coupled to the second link and configured to be manipulated by an application of external forces;
- and
- a physical constraint selectively driven about the second axis to limit motion of the second link in at least one direction to control movement of the end-effector relative to a predetermined position of the physical constraint.
Dependencies are inferred from the claim text.