Vibration damping for surgical systems
AssigneeAuris Health, Inc.
InventorsAbhishek SAHASRABUDHE, Christian de Jesus RUIZ
Life of this patent
Estimating the term…
Abstract
In some embodiments, a robotic arm includes a first link, a second link, and a rotational joint. The rotational joint is coupled to the first link and the second link and permits the first link to move relative to the second link. The rotational joint includes a rotor, a harmonic drive mechanism, and a vibration damper. The rotor is coupled to the first link and configured to provide a rotor torque. The harmonic drive mechanism is coupled to the rotor and configured to multiply the rotor torque. The vibration damper is coupled to the harmonic drive mechanism and the second link. The vibration damper permits transfer of the rotor torque from the harmonic drive mechanism to the second link and reduces vibrations of the robotic arm
Claims17
A method to operate a robotic arm, the method comprising:
- actuating one or more joints of the robotic arm to move an end effector of the robotic arm at a first end effector velocity, wherein the robotic arm defines a frequency range;
- detecting a vibration of the robotic arm during the actuation of the one or more joints of the robotic arm;
- identifying a frequency content of the vibration in the frequency range of the robotic arm;
- and
- actuating the one or more joints of the robotic arm to move the end effector of the robotic arm at a second end effector velocity in response to the frequency content of the vibration exceeding a frequency content threshold to reduce the vibration of the robotic arm, wherein the second end effector velocity is less than the first end effector velocity.
A method to operate a robotic arm, the method comprising:
- actuating one or more joints of the robotic arm to move an end effector of the robotic arm at a first end effector velocity, wherein the robotic arm defines a frequency range;
- detecting a vibration of the robotic arm during the actuation of the one or more joints of the robotic arm;
- identifying a frequency content of the vibration in the frequency range of the robotic arm;
- and
- modulating a damping coefficient of a damper coupled to the robotic arm to reduce the vibration of the robotic arm in response to the frequency content of the vibration exceeding a frequency content threshold.
A non-transitory machine readable storage medium containing executable instructions which when executed by a data processing system cause the data processing system to perform a method, the method comprising:
- detecting a vibration of a robotic arm during a movement of an end effector;
- computing a frequency range for the robotic arm;
- identifying a frequency content of the vibration in the frequency range of the robotic arm;
- and
- reducing the vibration of the robotic arm in response to the frequency content of the vibration exceeding a frequency content threshold.
Dependencies are inferred from the claim text.