Phantom degrees of freedom in joint estimation and control

US10052167B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Samuel Kwok Wai Au · Mountain View, US
• Raymond Arthur Bonneau · San Francisco, US
• Nicola Diolaiti · Menlo Park, US
• Pushkar Hingwe · Los Altos, US
• Arjang M. Hourtash · San Diego, US
• Amy E. Kerdok · San Jose, US
• Michael Turner · Sunnyvale, US

Key dates

• Filing date: Feb 8, 2017
• Grant date: Aug 21, 2018
• Expiry date: Feb 26, 2037

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/41
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.