Autonomous correction of alignment error in a master-slave robotic system

US11179209B2 · kind B2 · utility

Assignee

• Titan Medical Inc. · CA

Inventors

• Joseph Kralicky · Fresno Street, US
• Peter John Kenneth Cameron · St. Louis Park, US

Key dates

• Filing date: Oct 1, 2020
• Grant date: Nov 23, 2021
• Expiry date: Oct 1, 2040

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/31
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (RΔ) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (RΔ) to reduce the alignment difference.