Frame mapping and force feedback methods, devices and systems
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05B-019/04
A61B-019/00
B25J-009/16
출원번호
US-0049043
(2013-10-08)
등록번호
US-9044257
(2015-06-02)
발명자
/ 주소
Fielding, Tim
Newhook, Perry
출원인 / 주소
Fielding, Tim
대리인 / 주소
Norton Rose Fulbright US LLP
인용정보
피인용 횟수 :
0인용 특허 :
17
초록▼
Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to th
Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to the operator, regardless of the actual position and orientation of the slave manipulator. Methods, devices, and systems relating to force feedback associated with medical robotic procedures.
대표청구항▼
1. A method for controlling movement of a robotic arm of a medical robot system, the robotic arm operatively associated with a tool, the medical robot system comprising: a medical robot under operator control having at least one robotic arm,a camera configured to provide an image of the tool, anda r
1. A method for controlling movement of a robotic arm of a medical robot system, the robotic arm operatively associated with a tool, the medical robot system comprising: a medical robot under operator control having at least one robotic arm,a camera configured to provide an image of the tool, anda reference structure having a fixed orientation relative to the camera, the method comprising: determining a calculated motion of the tool wherein: the determining of the calculated motion is based on an input value received from a controller device that provides input from a user; andthe calculated motion is expressed in an observer coordinate system that comprises a first axis oriented in fixed relation with an axis of the tool and a second axis oriented orthogonal to the first axis and such that its projection into a plane defined by X and Y axis of an orthogonal coordinate system defined relative to the reference structure is parallel to and pointing in the same direction as the X axis; andoutputting an actuation signal to move the robotic arm in accordance with the calculated motion. 2. The method of claim 1, further comprising: determining a calculated observer force value that is expressed in the observer coordinate system and based on a virtual force value; andoutputting a feedback signal to the controller device in accordance with the calculated observer force value. 3. The method of claim 1, further comprising: determining a calculated observer force value that is expressed in the observer coordinate system and based on a measured force value from the robotic arm; andoutputting a feedback signal to the controller device in accordance with the calculated observer force value. 4. The method of claim 3, wherein the calculated observer force value is also based on a virtual force value. 5. The method of claim 4, wherein calculation of the virtual force value comprises using one or more calculated virtual collisions, one or more joint limits, motion divergence or a combination thereof. 6. The method of 1, further comprising: determining a second calculated motion of a second tool of a second robotic arm, where: the determining of the second calculated motion is based on a second input value received from a second controller device that provides input from the user; andthe second calculated motion is expressed in a second observer coordinate system that is based on the orientation of the second tool and the orientation of the observer reference structure; andoutputting a second actuation signal to move the second robotic arm in accordance with the second calculated motion. 7. The method of claim 6, further comprising: determining a second calculated observer force value that is expressed in the second observer coordinate system and based on a second virtual force value; andoutputting a second feedback signal to the second controller device in accordance with the second calculated observer force value. 8. The method of claim 6, further comprising: determining a second calculated observer force value that is expressed in the second observer coordinate system and based on a second measured force value from the second robotic arm; andoutputting a second feedback signal to the second controller device in accordance with the second calculated observer force value. 9. The method of claim 8, wherein the second calculated observer force value is also based on a second virtual force value. 10. The method of claim 9, wherein calculation of the second virtual force value comprises using one or more calculated virtual collisions, one or more joint limits, motion divergence, or a combination thereof. 11. A method for controlling movement of a robotic arm of a medical robot system, the robotic arm operatively associated with a tool, the medical robot system comprising: a medical robot under operator control having at least one robotic arm, a camera configured to provide an image of the tool, anda reference structure having a fixed orientation relative to the camera, the method comprising:receiving an input value from a controller device representative of a desired motion of the tool, wherein the input value is expressed in a controller device coordinate system;determining a calculated motion of the tool based on the input value, wherein the calculated motion is expressed in an observer coordinate system that comprises a first axis oriented in fixed relation with an axis of the tool and a second axis oriented orthogonal to the first axis and such that its projection into a plane defined by X and Y axis of an orthogonal coordinate system defined relative to the reference structure is parallel to and pointing in the same direction as the X axis;determining a commanded motion of the robotic arm based on the calculated motion of the tool and a position of the robotic arm;outputting an actuation signal to move the robotic arm in accordance with the commanded motion;determining a calculated observer force value that is expressed in the observer coordinate system;determining a controller device feedback force value based on the calculated observer force value, wherein the controller device feedback force is expressed in the controller device coordinate system; andoutputting a feedback signal to the controller device in accordance with the controller device feedback force value. 12. The method of claim 11, where: the input value can be expressed in the controller device coordinate system as an input vector having an input magnitude and an input direction;the calculated motion can be expressed in the observer coordinate system as a calculated motion vector having a calculated motion magnitude and a calculated motion direction; andthe calculated motion direction equals the input direction. 13. The method of claim 12, wherein the determining of the calculated observer force value comprises using a virtual force value. 14. The method of claim 12, further comprising: receiving a measured force value from the robotic arm, wherein the measured force value is representative of a force measured at a location on the robotic arm and expressed in a sensor coordinate system; and where:the determining of the calculated observer force value comprises using the measured force value and the position of the robotic arm. 15. The method of claim 14, wherein the determining of the calculated observer force value further comprises using a virtual force value. 16. The method of claim 15, wherein calculation of the virtual force value comprises using one or more calculated virtual collisions. 17. The method of claim 15, wherein calculation of the virtual force value comprises using one or more joint limits. 18. The method of claim 15, wherein calculation of the virtual force value comprises using motion divergence. 19. The method of claim 15, wherein calculation of the virtual force value comprises using one or more calculated virtual collisions, one or more joint limits, motion divergence, or a combination thereof. 20. A non-transitory computer readable storage medium comprising machine readable instructions for: determining a calculated motion of a tool operatively associated with a robotic arm of a medical robot system, the medical robot system comprising a medical robot under operator control having at least one robotic arm, wherein: the determining of the calculated motion is based on an input value received from a controller device that provides input from a user; andthe calculated motion is expressed in an observer coordinate system that comprises a first axis oriented in fixed relation with an axis of the tool and a second axis oriented orthogonal to the first axis and such that its projection into a plane the plane being defined by X and Y axis of an orthogonal coordinate system defined relative to a reference structure that has a fixed orientation relative to a camera configured to provide an image of the tool, is parallel to and pointing in the same direction as the X axis; andoutputting an actuation signal to move the robotic arm in accordance with the calculated motion. 21. A non-transitory computer readable storage medium comprising machine readable instructions for: receiving an input value from a controller device representative of a desired motion of a tool a tool operatively associated with a robotic arm of a medical robot system, the medical robot system comprising a medical robot under operator control having at least one robotic arm, wherein the input value is expressed in a controller device coordinate system;determining a calculated motion of the tool based on the input value, wherein the calculated motion is expressed in an observer coordinate system that comprises a first axis oriented in fixed relation with an axis of the tool and a second axis oriented orthogonal to the first axis and such that its projection into a plane, the plane being defined by X and Y axis of an orthogonal coordinate system defined relative to a reference structure having a fixed orientation relative to a camera configured to provide an image of the tool, is parallel to and pointing in the same direction as the X axis;determining a commanded motion of the robotic arm based on the calculated motion of the tool and a position of the robotic arm;outputting an actuation signal to move the robotic arm in accordance with the commanded motion;determining a calculated observer force value that is expressed in the observer coordinate system;determining a controller device feedback force value based on the calculated observer force value, wherein the controller device feedback force is expressed in the controller device coordinate system; andoutputting a feedback signal to the controller device in accordance with the controller device feedback force value. 22. A control system configured to control at least one robotic arm of a medical robot system, the robotic arm operatively associated with a tool, the medical robot system comprising: a medical robot under operator control having at least one robotic arm,a camera configured to provide an image of the tool, anda reference structure having a fixed orientation relative to the camera,the control system comprising: a computing device operatively associated with the medical robot, wherein the computing device is configured to determine a calculated motion of the tool wherein the determination of the calculated motion is based on an input value received from a controller device that provides input from a user; and the calculated motion is expressed in an observer coordinate system that comprises a first axis oriented in fixed relation with an axis of the tool and a second axis oriented orthogonal to the first axis and such that its projection into a plane defined by X and Y axis of an orthogonal coordinate system defined relative to the reference structure is parallel to and pointing in the same direction as the X axis; and output an actuation signal to move the robotic arm in accordance with the calculated motion, andat least one controller device operatively associated with the computing device and configured to receive an input of a desired movement of the robotic arm. 23. A control system for use in configured to control of at least one medical robotic arm of a medical robot system, the robotic arm operatively associated with a tool, the medical robot system comprising: a medical robot under operator control having at least one robotic arm,a camera configured to provide an image of the tool, anda reference structure having a fixed orientation relative to the camera, the control system comprising:a computing device operatively associated with the medical robot, wherein the computing device is configured to receive an input value from a controller device representative of a desired motion of the tool, wherein the input value is expressed in a controller device coordinate system; determine a calculated motion of the tool based on the input value, wherein the calculated motion is expressed in an observer coordinate system that comprises a first axis oriented in fixed relation with an axis of the tool and a second axis oriented orthogonal to the first axis and such that its projection into a plane defined by X and Y axis of an orthogonal coordinate system defined relative to the reference structure is parallel to and pointing in the same direction as the X axis;determine a commanded motion of the robotic arm based on the calculated motion of the tool and a position of the robotic arm; output an actuation signal to move the robotic arm in accordance with the commanded motion; determine a calculated observer force value that is expressed in the observer coordinate system; determine a controller device feedback force value based on the calculated observer force value, wherein the controller device feedback force is expressed in the controller device coordinate system; and output a feedback signal to the controller device in accordance with the controller device feedback force value, andat least one controller device operatively associated with the computing device and configured to receive an input of a desired movement of the robotic arm.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (17)
Wang Yulun ; Laby Keith Phillip, Automated endoscope system for optimal positioning.
Niemeyer,Gunter D.; Guthart,Gary S.; Nowlin,William C.; Swarup,Nitish; Toth,Gregory K; Younge,Robert G., Camera referenced control in a minimally invasive surgical apparatus.
Red Walter E. (Provo UT) Davies Brady R. (Orem UT) Wang Xuguang (Provo UT) Turner Edgar R. (Provo UT), Device and method for correction of robot inaccuracy.
Salisbury, Jr., J. Kenneth; Niemeyer, Gunter D.; Younge, Robert G.; Guthart, Gary S.; Mintz, David S.; Cooper, Thomas G., Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure.
Salisbury, Jr.,J. Kenneth; Niemeyer,Gunter D.; Younge,Robert G.; Guthart,Gary S.; Mintz,David S.; Cooper,Thomas G., Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure.
Taft Jeffrey D. (Plum Boro PA) Ellison James F. (Pittsburgh PA) Breakey Gerald A. (Penn Township ; Westmoreland County PA), Optical automatic seam tracker and real time control system for an industrial robot.
Wang Xuguang (Provo UT) Red Walter E. (Provo UT) Manley Peter H. (Alpine UT), Robot end-effector terminal control frame (TCF) calibration method and device.
Lemelson, Dorothy; Pedersen, Robert D.; Blake, Tracy D., Robotic manufacturing and assembly with relative radio positioning using radio based location determination.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.