Master controller having redundant degrees of freedom and added forces to create internal motion
First Claim
1. An input device comprising:
- a base;
a handle manually movable relative to the base to provide a position input;
a linkage coupling the handle to the base, the linkage having a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base;
a handle stop that applies a first load to the handle to push the handle away from a handle stop position when a distance between the handle and the handle stop position is less than a threshold distance; and
a linkage drive system coupled to the redundant link, the linkage drive system to apply a second load to the redundant linkage responsive to the first load, the second load creating internal motion of the linkage such that the distance between the handle and the handle stop position is increased.
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Accused Products
Abstract
An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.
162 Citations
24 Claims
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1. An input device comprising:
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a base; a handle manually movable relative to the base to provide a position input; a linkage coupling the handle to the base, the linkage having a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base; a handle stop that applies a first load to the handle to push the handle away from a handle stop position when a distance between the handle and the handle stop position is less than a threshold distance; and a linkage drive system coupled to the redundant link, the linkage drive system to apply a second load to the redundant linkage responsive to the first load, the second load creating internal motion of the linkage such that the distance between the handle and the handle stop position is increased. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of controlling a robotic surgical system, the method comprising:
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receiving a position input from manually moving a handle relative to a base; receiving a distance between the handle and a handle stop position; and when the distance is less than a threshold distance, applying a first load to the handle to push the handle away from the handle stop position, and applying a second load to a redundant link of a linkage that couples the handle to the base responsive to the first load, the second load creating internal motion of the linkage without moving the handle relative to the base such that the distance between the handle and the handle stop position is increased. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. An input device comprising:
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means for providing a position input relative to a base; means for applying a first load to the means for providing the position input when a distance between the means for providing the position input and a stop position is less than a threshold distance; and means for applying a second load to a redundant link of a linkage responsive to the first load, the linkage coupling the means for providing the position input to the base, the redundant link creating internal motion of the linkage without moving the means for providing the position input relative to the base, the second load increasing the distance between the means for providing a position input and the stop position. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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Specification