Application of torque limits to surgical robots
AssigneeAuris Health, Inc.
InventorsMikael JORDA, Nicholas CHEUNG
Life of this patent
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Abstract
A surgical robot includes an end effector driven by a plurality of joints located along a robotic arm of the surgical robot. Additionally, the surgical robot includes a processor communicatively coupled to the robotic arm, the processor configured to apply a first torque limit to at least one of the plurality of joints when the robotic arm is actively moving, and apply a second torque limit to at least one of the plurality of joints when the robotic arm is in a stationary state, wherein the second torque limit is different from the first torque limit.
Claims20
A surgical robot, comprising:
- an end effector driven by a plurality of joints located along a robotic arm of the surgical robot;
- and
- a processor communicatively coupled to the robotic arm, the processor configured to:
- apply a first torque limit to at least one of the plurality of joints when the robotic arm is actively moving;
- and
- apply a second torque limit to at least one of the plurality of joints when the robotic arm is in a stationary state, wherein the second torque limit is different from the first torque limit.
A surgical robot, comprising:
- an end effector driven by a plurality of joints of a robotic arm of the surgical robot;
- and
- a processor communicatively coupled to the robotic arm, the processor configured to:
- estimate an expected torque producible by the plurality of joints to satisfy a control input applied to the robotic arm, wherein the expected torque is based on a predefined dynamic model of the robotic arm;
- and
- apply a torque limit to at least one of the plurality of joints that is based on and greater than the expected torque.
A surgical robot, comprising:
- a first end effector driven by a plurality of first joints of a first robotic arm of the surgical robot;
- a second end effector driven by a plurality of second joints of a second robotic arm of the surgical robot;
- and
- a processor communicatively coupled to the first robotic arm and the second robotic arm, the processor configured to:
- apply a first torque limit to at least one of the plurality of first joints and/or at least one of the plurality of second joints in response to determining by the processor that the first robotic arm and/or the second robotic arm is actively moving;
- and
- apply a second torque limit to at least one of the plurality of first joints and/or at least one of the plurality of second joints in response to determining by the processor that the first robotic arm and/or the second robotic arm is in a stationary state, wherein the second torque limit is different from the first torque limit.
Dependencies are inferred from the claim text.