Surgical robotic arm admittance control

• US 10,016,900 B1
• Filed: 10/10/2017
• Issued: 07/10/2018
• Est. Priority Date: 10/10/2017
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Meyer, Kurt Christopher, Chung, Shu-Yun, Ho, Mingyen
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US15/729,558
• Time in Patent Office: 273 Days
• Field of Search: 700253
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/066 for measuring torque
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 50/13 Trolleys, e.g. carts
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61G 13/04 tiltable around transverse or longitudinal axis
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/1607 Calculation of inertia, jacobian matrixes and inverses
• CPC Class Codes: G05B 19/00 Programme-control systems

Abstract

Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

Claims

1. A system, comprising:

a robotic arm comprising;

at least two linkages,

at least one joint connecting the at least two linkages,

at least one torque sensor configured to detect torque between the at least two linkages, and

at least one motor configured to adjust the position of the at least two linkages,

a processor; and

a memory storing computer-executable instructions to cause the processor to;

determine a force at a reference point on the robotic arm based on an output of the torque sensor,

receive an indication of a direction of movement of the reference point,

determine that a component of the force is in the same direction as the direction of movement of the reference point,

generate, based on the determination that the component of the force is in the same direction as the direction of movement of the reference point, at least one parameter indicative of a target resistance to movement of the robotic arm, and

control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

2. The system of claim 1, wherein the robotic arm further comprises an instrument device manipulator (IDM) connected to a distal end of the robotic arm, and wherein the reference point is located on the IDM.

3. The system of claim 1, wherein the memory further comprises computer-executable instructions to cause the processor to:

measure a first torque value at the at least one joint based on the output of the torque sensor,

determine a second torque value at the at least one joint based on a position of the robotic arm, the second torque value indicative of a gravitational component of the torque between the at least two linkages, and

determine the force at the reference point based on a difference between the first and second torque values.

4. The system of claim 1, wherein:

the memory further comprises computer-executable instructions to cause the processor to determine a deadband of the force, and

the controlling of the motor based on the at least one parameter restricts movement of the robotic arm to be responsive to values of the force outside of the deadband.

5. The system of claim 4, wherein the memory further comprises computer-executable instructions to cause the processor to:

apply a smoothing function to the force values at boundaries of the deadband, and

control the motor to move the robotic arm based on the smoothed force values.

6. The system of claim 1, wherein the robotic arm further comprises:

a button configured to be actuated by a user,

the memory further comprising computer-executable instructions to cause the processor to;

receive a user input signal generated when the button is actuated by the user, and

calibrate the torque sensor based on the output received from the torque sensor over a period of time,

wherein determining the force at the reference point is further in response to receiving the user input signal and based on the calibrated output from the torque sensor.

7. The system of claim 1, wherein the target resistance comprises:

at least one first parameter defining a virtual mass of the robotic arm, and

at least one second parameter defining a virtual damping coefficient of the robotic arm,

the memory further comprising computer-executable instructions to cause the processor to control the motor to move the robotic arm based on a model of the robotic arm, the model defining a relationship between the control of the motor, the force at the reference point, the at least one first parameter, and the at least one second parameter.

8. The system of claim 7, wherein:

the at least one first parameter comprises a plurality of first parameter values, each of the first parameter values defining the virtual mass of the robotic arm with respect to movement of the robotic arm along one of a plurality of perpendicular axes, and

the at least one second parameter comprises a plurality of second parameter values, each of the second parameter values defining the virtual damping coefficient of the robotic arm with respect to movement of the robotic arm along one of the plurality of perpendicular axes.

9. The system of claim 7, wherein the memory further comprises computer-executable instructions to cause the processor to:

determine whether the component of the force is in the same direction as or an opposite direction from the direction of movement of the reference point, and

adjust the at least one first parameter or the at least one second parameter based on the determination of whether the component of the force is in the same direction as or an opposite direction from the direction of movement of the reference point.

10. The system of claim 7, wherein the memory further comprises computer-executable instructions to cause the processor to:

decrease the at least one first parameter and the at least one second parameter in response to the determination that the component of the force is in the same direction as the direction of movement of the reference point.

11. The system of claim 7, wherein the memory further comprises computer-executable instructions to cause the processor to:

determine that the component of the force is in an opposite direction from the direction of movement of the reference point, and

increase the at least one first parameter and the at least one second parameter in response to the determination that the component of the force is in the opposite direction from the direction of movement of the reference point.

12. The system of claim 7, wherein:

the memory further comprises a plurality of user profiles, each of the user profiles comprising defining values for the at least one first parameter and the at least one second parameter,

the memory further comprises computer-executable instructions to cause the processor to;

receive a selection of one of the user profiles; and

adjust the at least one first parameter and the at least one second parameter based on the received selection.

13. The system of claim 1, wherein:

the robotic arm further comprises at least one position sensor configured to measure an angle between the at least two linkages,

the memory further comprises computer-executable instructions to cause the processor to determine the force based on an output of the position sensor,

the torque sensor, the motor, and the position sensor are located in the joint,

each of the torque sensor, the motor, and the position sensor is coupled to the two linkages connected to the joint.

14. The system of claim 1, wherein the memory further comprises computer-executable instructions to cause the processor to:

determine joint position command information based on the at least one parameter and the force;

transmit the joint position command information to the motor; and

determine the indication of the direction of movement of the reference point based on the command information.

15. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:

determine a force at a reference point on a robotic arm comprising a torque sensor based on an output of the torque sensor, the robotic arm further comprising;

two linkages, a joint connecting the two linkages, and a motor configured to adjust the position of the two linkages, the torque sensor configured to detect torque between the two linkages;

receive an indication of a direction of movement of the reference point;

determine that a component of the force is in the same direction as the direction of movement of the reference point;

generate, based on the determination that the component of the force is in the same direction as the direction of movement of the reference point, at least one parameter indicative of a target resistance to movement of the robotic arm; and

control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

16. The non-transitory computer readable storage medium of claim 15, further having stored thereon instructions that, when executed, cause at least one computing device to:

measure a first torque value at the at least one joint based on the output of the torque sensor;

determine a second torque value at the at least one joint based on a position of the robotic arm, the second torque value indicative of a gravitational component of the torque between the at least two linkages; and

determine the force at the reference point based on a difference between the first and second torque values.

17. The non-transitory computer readable storage medium of claim 15, further having stored thereon instructions that, when executed, cause at least one computing device to:

determine a deadband of the force; and

restrict movement of the robotic arm to be responsive to values of the force outside of the deadband while controlling the motor to move the robotic arm.

18. The non-transitory computer readable storage medium of claim 17, further having stored thereon instructions that, when executed, cause at least one computing device to:

apply a smoothing function to the force values at boundaries of the deadband; and

control the motor to move the robotic arm based on the smoothed force values.

19. The non-transitory computer readable storage medium of claim 15, further having stored thereon instructions that, when executed, cause at least one computing device to:

receive a user input signal generated when a button on the robotic arm is actuated by the user;

calibrate the torque sensor based on the output received from the torque sensor over a period of time; and

determine the force at the reference point further in response to receiving the user input signal and based on the calibrated output from the torque sensor.

20. The non-transitory computer readable storage medium of claim 15, wherein the target resistance comprises:

at least one first parameter defining a virtual mass of the robotic arm, and

at least one second parameter defining a virtual damping coefficient of the robotic arm,

wherein the non-transitory computer readable storage medium further has stored thereon instructions that, when executed, cause at least one computing device to control the motor to move the robotic arm based on a model of the robotic arm, the model defining a relationship between the control of the motor, the force at the reference point, the at least one first parameter, and the at least one second parameter.

21. The non-transitory computer readable storage medium of claim 20, wherein the target resistance comprises:

determine whether the component of the force is in the same direction as or an opposite direction from the direction of movement of the reference point; and

adjust the at least one first parameter or the at least one second parameter based on the determination of whether the component of the force is in the same direction as or an opposite direction from the direction of movement of the reference point.

22. The non-transitory computer readable storage medium of claim 20, wherein the target resistance comprises:

decrease the at least one first parameter and the at least one second parameter in response to the determination that the component of the force is in the same direction as the direction of movement of the reference point.

23. A method of positioning a robotic arm, comprising:

determining a force at a reference point on the robotic arm comprising a torque sensor based on an output of the torque sensor, the robotic arm further comprising;

two linkages, a joint connecting the two linkages, and a motor configured to adjust the position of the two linkages, the torque sensor configured to detect torque between the two linkages;

receiving an indication of a direction of movement of the reference point;

determining that a component of the force is in the same direction as the direction of movement of the reference point;

generating, based on the determination that the component of the force is in the same direction as the direction of movement of the reference point, at least one parameter indicative of a target resistance to movement of the robotic arm; and

controlling the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

24. The method of claim 23, further comprising:

measuring a first torque value at the at least one joint based on the output of the torque sensor;

determining a second torque value at the at least one joint based on a position of the robotic arm, the second torque value indicative of a gravitational component of the torque between the at least two linkages; and

determining the force at the reference point based on a difference between the first and second torque values.

25. The method of claim 23, further comprising:

determining a deadband of the force; and

restricting movement of the robotic arm to be responsive to values of the force outside of the deadband while controlling the motor to move the robotic arm.

26. The method of claim 25, further comprising:

applying a smoothing function to the force values at boundaries of the deadband; and

controlling the motor to move the robotic arm based on the smoothed force values.

27. The method of claim 23, further comprising:

receiving a user input signal generated when a button on the robotic arm is actuated by the user;

calibrating the torque sensor based on the output received from the torque sensor over a period of time; and

determining the force at the reference point further in response to receiving the user input signal and based on the calibrated output from the torque sensor.

28. The method of claim 23, wherein the target resistance comprises:

at least one first parameter defining a virtual mass of the robotic arm, and

at least one second parameter defining a virtual damping coefficient of the robotic arm,

wherein the method further comprises controlling the motor to move the robotic arm based on a model of the robotic arm, the model defining a relationship between the control of the motor, the force at the reference point, the at least one first parameter, and the at least one second parameter.

29. The method of claim 28, further comprising:

determining whether the component of the force is in the same direction as or an opposite direction from the direction of movement of the reference point; and

adjusting the at least one first parameter or the at least one second parameter based on the determination of whether the component of the force is in the same direction as or an opposite direction from the direction of movement of the reference point.

30. The method of claim 28, further comprising:

decreasing the at least one first parameter and the at least one second parameter in response to the determination that the component of the force is in the same direction as the direction of movement of the reference point.