Systems and methods for controlling a robotic manipulator or associated tool
AssigneeIntutive Surgical Operations, Inc.
InventorsSimon P. DiMaio, Mark Froggatt, Xingchi He, Govinda Payyavula, David W. Robinson
Life of this patent
Estimating the term…
Abstract
A system includes a tool, an input device, a shape sensor system, and a processing unit. The processing unit is configured to determine a state estimate of the input device based on shape information from the shape sensor system, and control the tool based on the state estimate.
Claims28
A system comprising:
- a tool;
- an input device;
- a shape sensor system;
- and
- a processing unit configured to:
- determine a state estimate of a state of the input device based on shape information from the shape sensor system, wherein the state includes one or more of a pose, a velocity, and an acceleration of the input device;
- and
- control the tool based on the state estimate.
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A method, comprising:
- receiving shape information from a shape sensor system, wherein the shape sensor system is associated with a connection structure connecting an input device and a base;
- determining a state estimate of a state of the input device based on the shape information,
- wherein the state includes one or more of a pose, a velocity, and an acceleration of the input device;
- and
- controlling a tool based on the state estimate of the input device.
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A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which, when executed by one or more processors, are adapted to cause the one or more processors to perform a method comprising:
- receiving shape information from a shape sensor system associated with a connection structure connecting an input device and a base;
- determining a state estimate of a state of the input device based on the shape information
- wherein the state includes one or more of a pose, a velocity, and an acceleration of the input device;
- and
- controlling a tool based on the state estimate of the input device.
Dependencies are inferred from the claim text.