System and method for controlling a manipulator in response to backdrive forces
First Claim
1. A system comprising:
- a surgical instrument and an energy applicator;
a manipulator configured to position said surgical instrument and said energy applicator, said manipulator comprising a plurality of joints and a plurality of joint motors; and
a manipulator controller configured to (1) determine a backdrive force for at least one joint motor based on an actual torque for said at least one joint motor and an expected torque for said at least one joint motor, (2) model said surgical instrument and said energy applicator as a virtual rigid body, (3) compute a total force or torque to apply to said virtual rigid body based on said backdrive force, (4) determine a target position of said surgical instrument based on said total force or torque, and (5) command positioning of said joint motors to advance said surgical instrument to said target position.
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Abstract
A system and method for controlling a manipulator are provided. A manipulator controller measures an actual torque and calculates an expected torque for at least one joint motor of the manipulator. The manipulator controller computes a backdrive force for the at least one joint motor based on the actual torque and expected torque. A surgical tool of the manipulator is modeled as a virtual rigid body. The manipulator controller computes a total force or torque to apply to the virtual rigid body based on the backdrive force. The manipulator controller determines a target position of the surgical instrument based on the total force or torque and commands positioning of the joint motors to advance the surgical instrument to the target position.
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Citations
19 Claims
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1. A system comprising:
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a surgical instrument and an energy applicator; a manipulator configured to position said surgical instrument and said energy applicator, said manipulator comprising a plurality of joints and a plurality of joint motors; and a manipulator controller configured to (1) determine a backdrive force for at least one joint motor based on an actual torque for said at least one joint motor and an expected torque for said at least one joint motor, (2) model said surgical instrument and said energy applicator as a virtual rigid body, (3) compute a total force or torque to apply to said virtual rigid body based on said backdrive force, (4) determine a target position of said surgical instrument based on said total force or torque, and (5) command positioning of said joint motors to advance said surgical instrument to said target position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for operating a manipulator controller of a system, the system comprising a surgical instrument and an energy applicator, a manipulator configured to position the surgical instrument and the energy applicator, with the manipulator comprising a plurality of joints and a plurality of joint motors, and the manipulator controller in communication with the manipulator, the method comprising:
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measuring an actual torque for at least one joint motor; calculating an expected torque for the at least one joint motor; computing a backdrive force for the at least one joint motor based on the actual torque and the expected torque; modeling the surgical instrument and the energy applicator as a virtual rigid body; computing a total force or torque to apply to the virtual rigid body based on the backdrive force; determining a target position of the surgical instrument based on the total force or torque; and commanding positioning of the joint motors to advance the surgical instrument to the target position. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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Specification