Robotic surgical systems including torque sensors
AssigneeCovidien LP
InventorsWilliam Peine, Andreas Tobergte
Life of this patent
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Abstract
Methods are provided for handling collisions of a robotic surgical system. Collision handling may include receiving a first handle input and a second input at a controller. Upon receiving the first and second handle input, a desired position of a robotic arm is calculated. A first output signal to move the robotic arm toward the desired position is transmitted in response to calculating the desired position. As the robotic arm moves toward the desired position, a force measurement is received. If the force measurement is greater than a predetermined threshold, the desired position is recalculated.
Claims18
A method of collision handling for a robotic surgical system in a controller of the robotic surgical system, the method comprising:
- receiving a first handle input and a second handle input from a console of the robotic surgical system;
- calculating a desired position of a robotic arm of a surgical robot in response to receiving the first and second handle inputs;
- transmitting a first output signal to the surgical robot to move the robotic arm toward the desired position;
- receiving a force measurement from the surgical robot as the robotic arm moves towards the desired position;
- and
- recalculating the desired position of the robotic arm of the surgical robot when the force measurement is greater than a predetermined threshold.
A method of collision handling for a robotic surgical system in a controller of the robotic surgical system, the method comprising:
- determining a desired position of a robotic arm;
- transmitting an output signal to move the robotic arm towards the desired position;
- receiving a force measurement from the robotic arm as the robotic arm moves towards the desired position;
- and
- scaling down the output signal to move a location of the desired position when the force measurement is greater than a predetermined threshold.
A method of collision handling for a robotic surgical system with a controller of the robotic surgical system, the method comprising:
- determining a desired position of a robotic arm;
- transmitting a first output signal to move the robotic arm towards the desired position;
- receiving a force measurement from the robotic arm as the robotic arm moves towards the desired position;
- and
- transmitting an altered output signal when the force measurement is greater than a predetermined threshold.
Dependencies are inferred from the claim text.