Uniform scaling of haptic actuators
AssigneeIntuitive Surgical Operations, Inc.
InventorsLawton N. VERNER, Hsien-Hsin LIAO
Life of this patent
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Abstract
A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.
Claims20
A tele-operated system comprising:
- an input device;
- a haptic feedback mechanism operably coupled to the input device, the haptic feedback mechanism including a first actuator and a second actuator;
- and
- a controller operably coupled to the haptic feedback mechanism to cause a provision of user haptic feedback at the input device via the haptic feedback mechanism, the controller being configured to:
- determine a first output command for the first actuator and a second output command for the second actuator associated with the provision of user haptic feedback,
- determine a common scaling factor on a condition in which an output of the first actuator resulting from the first output command would be outside a working range of the first actuator, the working range of the first actuator being defined at least in part by a lower output limit of the first actuator,
- apply the common scaling factor to the first output command to generate a scaled first output command configured to cause production of a scaled first output of the first actuator, the scaled first output being within the working range of the first actuator,
- apply the common scaling factor to the second output command to generate a scaled second output command configured to cause production of a scaled second output by the second actuator, and
- cause the provision of the user haptic feedback at the input device by providing the scaled first output via the first actuator and the scaled second output via the second actuator.
A tele-operated system comprising:
- a user input device;
- a haptic feedback mechanism including a first actuator coupled to the user input device and a second actuator coupled to the user input device;
- and
- a controller coupled to provide instructions to the haptic feedback mechanism, the controller being configured to:
- determine a first output force for the first actuator and a second output force for the second actuator, the first output force and the second output force being configured to provide a haptic feedback to the user input device,
- determine a common scaling factor on a condition that at least one of the first output force or the second output force has a magnitude less than a lower output limit,
- apply the common scaling factor to the first output force to generate a scaled first output force and to the second output force to generate a scaled second output force for the second actuator to provide to the user input device, and
- cause the haptic feedback to be provided at the user input device via the scaled first output force of the first actuator and the scaled second output force of the second actuator.
Dependencies are inferred from the claim text.