Method and system for mitigating collision of surgical robot
AssigneeMeere Company Inc.
InventorsJong Do CHOI, Tae Won KIM
Life of this patent
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Abstract
This application relates to a method of mitigating a collision of a slave robot for surgery. In one aspect, the method includes obtaining an external torque generated when the slave robot collides with another object or a person and obtaining a joint angle of the slave robot. The method may also include calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated. The method may further include controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle.
Claims11
A method of mitigating a collision of a slave robot for surgery, the method comprising:
- first obtaining an external torque generated when the slave robot collides with another object or a person;
- second obtaining a joint angle of the slave robot;
- calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated;
- and
- controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle.
A robot system for surgery, the robot system comprising:
- a master console operated by an operator;
- a slaw robot moved based on a manipulation on the master console;
- and
- at least one processor configured to control a movement of the slave robot such that a collision between the slave robot and another object or person is weakened, the at least one processor further configured to:
- obtain an external torque that is generated when the slave robot collides with another object or person;
- obtain a joint angle of the slave robot;
- calculate a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated;
- and
- control the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle.
A non-transitory computer recording medium storing instructions to perform a method of mitigating a collision of a slave robot for surgery, the method comprising:
- first obtaining an external torque generated when the slave robot collides with another object or a person;
- second obtaining a joint angle of the slave robot;
- calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated;
- and
- controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle.
Dependencies are inferred from the claim text.