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System and method for providing substantially stable control of a surgical tool

  • US 9,921,712 B2
  • Filed: 03/06/2017
  • Issued: 03/20/2018
  • Est. Priority Date: 12/29/2010
  • Status: Active Grant
First Claim
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1. A system for providing substantially stable control of a surgical instrument, comprising:

  • a surgical manipulator for manipulating the surgical instrument; and

    at least one computer configured to;

    identify a first subset and a second subset of interaction geometric primitives associated with a virtual tool representing the surgical instrument;

    determine, based on the first subset, control forces in a first subspace;

    determine based on the second subset, control forces in a second subspace having at least one additional dimension to first subspace;

    wherein control forces in the additional dimension are only determined based on the second subset of interaction geometric primitives, which is different than the first subset of interaction geometric primitives; and

    determine a torque to constrain an orientation of the surgical instrument, wherein determining the torque comprises defining a virtual tool normal and a control plane normal and using the virtual tool normal and control plane normal to calculate the torque.

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