System with brake to limit manual movement of member and control system for same

• US 10,052,166 B2
• Filed: 08/07/2017
• Issued: 08/21/2018
• Est. Priority Date: 10/01/2009
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Ziaei, Kam, Moses, Dennis
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US15/670,894
• Publication Number:
  US 20170333144A1
• Time in Patent Office: 379 Days
• CPC Class Codes: A61B 17/1617 with mobile or detachable parts
• CPC Class Codes: A61B 17/162 Chucks or tool parts which are to be held in a chuck
• CPC Class Codes: A61B 17/1631 Special drive shafts, e.g. flexible shafts A61B17/1642, A61B17/164 take precedence
• CPC Class Codes: A61B 17/1655 for tapping
• CPC Class Codes: A61B 17/1659 Surgical rasps, files, planes, or scrapers
• CPC Class Codes: A61B 17/1664 for the hip
• CPC Class Codes: A61B 17/1666 for the acetabulum
• CPC Class Codes: A61B 17/1684 for the shoulder
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 2090/08021 of the patient or his organs
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61F 2/34 Acetabular cups
• CPC Class Codes: A61F 2/36 Femoral heads ; Femoral endoprostheses
• CPC Class Codes: A61F 2/4607 : of hip femoral endoprostheses
• CPC Class Codes: A61F 2/4609 : of acetabular cups
• CPC Class Codes: Y10T 74/20305 : Robotic arm

Abstract

A robotic system includes an articulated member comprising a joint and configured to be manually moved by a user to facilitate performance of a task and a controller. The controller is programmed to determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region, generate a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region, and maintain the force feedback signal until a user disengages the force feedback.

Claims

1. A robotic system, comprising:

an articulated member comprising a joint and configured to be manually moved by a user to facilitate performance of a task; and

a controller programmed to;

determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region;

generate a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region; and

maintain the force feedback signal until a user disengages force feedback.

2. The robotic system of claim 1, wherein the articulated member is configured to couple to at least a first object and a second object that is interchangeable with the first object and has a different weight than the first object.

3. The robotic system of claim 1, wherein the controller is programmed to enable the user to continuously modify at least one of a size of the braking region, a location of the braking region, a shape of the braking region, and a magnitude of the force feedback signal.

4. The robotic system of claim 1, wherein the controller is programmed to enable the user to modify at least one of the braking region and a magnitude of the force feedback signal without changing a mechanical configuration of the robotic system.

5. The robotic system of claim 1, wherein the controller is programmed to maintain the force feedback signal until the user moves the articulated member such that the angular position of the joint is outside of the braking region.

6. The robotic system of claim 1, wherein the controller is programmed to maintain the force feedback signal until the user turns off the force feedback.

7. The robotic system of claim 1, wherein the articulated member includes at least one unbraked joint, and wherein the controller is programmed to maintain the force feedback signal until the user manually moves at least a portion of the articulated member comprising an unbraked joint.

8. A method of inhibiting movement of an articulated member, comprising:

determining whether an angular position of a joint of the articulated member is moved within an angular range of motion defined by a braking region;

generating a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region; and

maintaining the force feedback signal until a user disengages force feedback.

9. The method of claim 8, wherein the articulated member is configured to couple to at least a first object and a second object that is interchangeable with the first object and has a different weight than the first object.

10. The method of claim 8, further comprising enabling the user to continuously modify at least one of a size of the braking region, a location of the braking region, a shape of the braking region, and a magnitude of the force feedback signal.

11. The method of claim 8, further comprising enabling the user to modify at least one of the braking region and a magnitude of the force feedback signal without changing a mechanical configuration of a robotic system comprising the articulated member.

12. The method of claim 8, wherein maintaining the force feedback signal comprises maintaining the force feedback signal until the user moves the articulated member such that the angular position of the joint is outside of the braking region.

13. The method of claim 8, wherein maintaining the force feedback signal comprises maintaining the force feedback signal until the user turns off the force feedback.

14. The method of claim 8, wherein the articulated member includes at least one unbraked joint, and wherein maintaining the force feedback signal comprises maintaining the force feedback signal until the user manually moves at least a portion of the articulated member comprising an unbraked joint.

15. The method of claim 8, wherein generating the force feedback signal comprises generating the force feedback signal continuously in the braking region.

16. The method of claim 8, wherein generating the force feedback signal comprises generating the force feedback signal discontinuously in the braking region.

17. A control system configured to be integrated with a robotic system having a moveable member comprising a joint, comprising:

a controller programmed to;

determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region;

generate a force feedback signal compensating for a gravitational load on the moveable member to inhibit manual movement in space of at least a portion of the moveable member when the angular position of the joint is in the braking region; and

maintain the force feedback signal until a user disengages force feedback.

18. The control system of claim 17, wherein the controller is configured to generate the force feedback signal for payloads of the robotic system having different weights.

19. The control system of claim 17, wherein the controller is programmed to maintain the force feedback signal until the user moves the moveable member such that the angular position of the joint is outside of the braking region.

20. The control system of claim 17, wherein the controller is programmed to maintain the force feedback signal until the user turns off the force feedback.

21. The control system of claim 17, wherein the movable member includes at least one unbraked joint, and wherein the controller is programmed to maintain the force feedback signal until the user manually moves at least a portion of the movable member comprising an unbraked joint.