Detection of undesirable forces on a surgical robotic arm
US10145747B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 10, 2017 |
| Grant date | Dec 4, 2018 |
| Priority date | — |
| Expiry date | Oct 10, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40599
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Certain aspects relate to systems and techniques for detection of undesirable forces on one or more surgical robotic arms. In one aspect, there is provided a system including a robotic arm, including: two linkages, a joint, a torque sensor, and an instrument device manipulator (IDM). The system may further include a processor configured to measure a first torque value at the joint based on an output of the torque sensor and determine a second torque value at the joint based on a position of the robotic arm. The second torque value may be indicative of a gravitational component of the torque between the two linkages. The processor may be further configured to determine a force at the IDM based a difference between the first and second torque values and determine whether the robotic arm has collided with an object or misaligned based on the force at the IDM.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.