System and method for providing feedback during manual joint positioning
AssigneeIntuitive Surgical Operations, Inc.
InventorPaul G. GRIFFITHS
Life of this patent
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Abstract
A system and method of providing feedback during manual joint positioning includes a computer-assisted device having an articulated structure including a joint and a control unit coupled to the articulated structure. To provide feedback to a user during manual positioning of the joint by a user, the control unit is configured to determine a first target position for the joint, release a brake associated with the joint when the joint is moving toward the first target position, apply the brake when the joint is moving away from the first target position, and change the first target position to a second target position when the joint is at the first target position.
Claims20
A computer-assisted device comprising:
- an articulated structure comprising a joint;
- and
- a control unit coupled to the articulated structure;
- wherein, to provide feedback to a user during manual positioning of the joint by the user, the control unit is configured to:
- determine a first target position for the joint;
- release a brake associated with the joint when the joint is moving toward the first target position;
- apply the brake when the joint is moving away from the first target position;
- and
- change the first target position to a second target position when the joint is at the first target position.
A method of operating a computer-assisted device comprising a joint, the method comprising:
- determining, by a control unit of the computer-assisted device, a first target position for the joint;
- releasing, by the control unit, a brake associated with the joint when the joint is moving toward the first target position;
- applying, by the control unit, the brake when the joint is moving away from the first target position;
- and
- changing, by the control unit, the first target position to a second target position when the joint is at the first target position.
A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted medical device are adapted to cause the one or more processors to perform a method comprising:
- determining a first target position for a joint;
- releasing a brake associated with the joint when the joint is moving toward the first target position;
- applying the brake when the joint is moving away from the first target position;
- and
- changing the first target position to a second target position when the joint is at the first target position.
Dependencies are inferred from the claim text.