Frame mapping and force feedback methods, devices and systems
First Claim
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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; 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
outputting an actuation signal to move the robotic arm in accordance with the calculated motion.
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Abstract
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.
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Citations
23 Claims
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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:
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a medical robot under operator control having at least one robotic arm, a camera configured to provide an image of the tool, and a 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; 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 outputting an actuation signal to move the robotic arm in accordance with the calculated motion. - View Dependent Claims (2, 3, 4, 5)
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6. The method of 1, further comprising:
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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; and the 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; and outputting a second actuation signal to move the second robotic arm in accordance with the second calculated motion. - View Dependent Claims (7, 8, 9, 10)
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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:
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a medical robot under operator control having at least one robotic arm, a camera configured to provide an image of the tool, and a 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; and outputting a feedback signal to the controller device in accordance with the controller device feedback force value. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A non-transitory computer readable storage medium comprising machine readable instructions for:
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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; 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 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; and outputting an actuation signal to move the robotic arm in accordance with the calculated motion.
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21. A non-transitory computer readable storage medium comprising machine readable instructions for:
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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; and outputting a feedback signal to the controller device in accordance with the controller device feedback force value.
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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:
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a medical robot under operator control having at least one robotic arm, a camera configured to provide an image of the tool, and a 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.
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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:
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a medical robot under operator control having at least one robotic arm, a camera configured to provide an image of the tool, and a 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.
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Specification