Inverse kinematics of a surgical robot for teleoperation with hardware constraints
US12004829B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 9, 2020 |
| Grant date | Jun 11, 2024 |
| Priority date | — |
| Expiry date | Apr 30, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39077
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Various approaches to solve for inverse kinematics may be used for teleoperation of a surgical robotic system. In one approach, an iterative solver solves for the linear component of motion independently from solving for the angular component of motion. One solver may be used to solve for both together. In another approach, all limits (e.g., position, velocity, and acceleration) are handled in one solution. Where a limit is reached, the limit is used as a bound in the intermediate solution, allowing solution even where a bound is reached. In another approach, a ratio of limits of position are used to create a slow-down region near the bounds to more naturally control motion. In yet another approach, the medical-based teleoperation uses a bounded Gauss-Siedel solver, such as with successive-over-relaxation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.