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Manipulator and method for controlling the manipulator based on joint limits

  • US 10,350,017 B2
  • Filed: 09/15/2016
  • Issued: 07/16/2019
  • Est. Priority Date: 08/03/2012
  • Status: Active Grant
First Claim
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1. A manipulator for supporting a surgical tool, the manipulator comprising:

  • a plurality of links and joints;

    a plurality of actuators with each actuator arranged to move one or more of the links;

    a plurality of sensors with each sensor arranged to measure an actual joint angle for one of the joints; and

    at least one controller configured to;

    evaluate the actual joint angle relative to one or more joint boundary angles for each joint, wherein the one or more joint boundary angles comprise minimum and maximum joint boundary angles;

    compare, for each joint, the actual joint angle to the minimum and maximum joint boundary angles to determine a boundary exceeded angle;

    output a joint limit torque based on the boundary exceeded angle;

    model the surgical tool as a virtual rigid body;

    convert the joint limit torque into forces and torques to apply to the virtual rigid body; and

    determine a commanded joint angle for each joint based on the forces and torques applied to the virtual rigid body so that the plurality of actuators move the surgical tool to a commanded pose associated with the commanded joint angles.

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