Robotic Systems And Methods For Mitigating Undesired Orientational Motion Of Kinematic Components
AssigneeMAKO Surgical Corp.
InventorRishabh Khurana
Life of this patent
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Abstract
A robotic surgical system includes a kinematic chain defined by components of a manipulator and a surgical tool including an energy applicator. At least one controller identifies that one or more components of the kinematic chain other than the energy applicator is either experiencing or will experience an undesired orientational motion. The at least one controller changes operation of the manipulator to mitigate for the present or expected undesired orientational motion.
Claims20
A surgical system, comprising:
- a manipulator comprising a base, a robotic arm supported by the base and including links and joints, and a surgical tool supported by the robotic arm and including an energy applicator, and wherein a kinematic chain is defined by components comprising the base, the links and joints of the robotic arm, and the surgical tool including the energy applicator;
- and
- at least one controller configured to:
- control the manipulator to advance the energy applicator according to a feed rate;
- pursuant to advancement of the energy applicator, identify that one or more components of the kinematic chain other than the energy applicator is either experiencing or will experience an undesired orientational motion;
- and
- change the feed rate to account for the undesired orientational motion.
A method of operating a surgical system, the surgical system including a manipulator with a base, a robotic arm supported by the base and including links and joints, and a surgical tool supported by the robotic arm and including an energy applicator, and wherein a kinematic chain is defined by components comprising the base, the links and joints of the robotic arm, and the surgical tool including the energy applicator, and at least one controller for:
- controlling the manipulator for advancing the energy applicator according to a feed rate;
- while advancing the energy applicator, identifying that one or more components of the kinematic chain other than the energy applicator is either experiencing or will experience an undesired orientational motion;
- and
- changing the feed rate to account for the undesired orientational motion.
A non-transitory computer-readable medium for use with a surgical system, the surgical system including a manipulator with a base, a robotic arm supported by the base and including links and joints, and a surgical tool supported by the robotic arm and including an energy applicator, and wherein a kinematic chain is defined by components comprising the base, the links and joints of the robotic arm, and the surgical tool including the energy applicator, the non-transitory computer-readable medium comprising instructions, which when executed by one or more processors, are configured to:
- control the manipulator to advance the energy applicator according to a feed rate;
- pursuant to advancement of the energy applicator, identify that one or more components of the kinematic chain other than the energy applicator is either experiencing or will experience an undesired orientational motion;
- and
- change the feed rate to account for the undesired orientational motion.
Dependencies are inferred from the claim text.