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1.发明授权公开(公告)号：US10188471B2
公开(公告)日：2019-01-29
申请号：US15126967
申请日：2015-03-17
发明人： Gabriel Brisson
摘要： Devices, systems, and methods for controlling manipulator movements at joint range of motion limits are provided. In one aspect, methods include locking one or more joints of the manipulator when the one or more joints hit a respective joint limit by modifying an input into a Jacobian of the manipulator when calculating joint movement of a master control using inverse kinematics to provide improved, more intuitive force feedback through the master control. In some embodiments, scaling and weighting between different joint movements is applied within the inverse kinematics. In another aspect, methods include applying a constraint within the inverse kinematics so that calculated movement of the joints approach joint movements of an identical kinematic chain with applied loads within an isolated physical system.
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公开(公告)号：US12096998B2
公开(公告)日：2024-09-24
申请号：US17598186
申请日：2020-03-27
发明人： Gabriel Brisson
CPC分类号： A61B34/30 , B25J9/163 , B25J9/1633 , A61B2090/066 , G05B2219/39445 , G05B2219/45118
摘要： A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor. The controller is configured to servo at least one joint associated with at least one manipulator arm segment of the manipulator arm, the servoing including executing a servo loop. Executing the servo loop includes obtaining an actual state of the manipulator arm, computing a difference between a commanded state and the actual state, where the commanded state is used for the servoing the at least one joint, and determining whether the difference exceeds an error threshold. Based on determining that the difference does exceed the error threshold, the commanded state is updated using an offset to reduce the difference, and. Based on determining that the difference does not exceed the error threshold, the commanded state is not updated. The controller is further configured to apply the commanded state to control the actual state.
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公开(公告)号：US20220175472A1
公开(公告)日：2022-06-09
申请号：US17598186
申请日：2020-03-27
发明人： Gabriel Brisson
摘要： A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor. The controller is configured to servo at least one joint associated with at least one manipulator arm segment of the manipulator arm, the servoing including executing a servo loop. Executing the servo loop includes obtaining an actual state of the manipulator arm, computing a difference between a commanded state and the actual state, where the commanded state is used for the servoing the at least one joint, and determining whether the difference exceeds an error threshold. Based on determining that the difference does exceed the error threshold, the commanded state is updated using an offset to reduce the difference, and. Based on determining that the difference does not exceed the error threshold, the commanded state is not updated. The controller is further configured to apply the commanded state to control the actual state.
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4.发明申请公开(公告)号：US20170095301A1
公开(公告)日：2017-04-06
申请号：US15126967
申请日：2015-03-17
发明人： Gabriel Brisson
CPC分类号： A61B34/35 , A61B34/76 , A61B2090/031 , B25J9/1607 , B25J9/1689 , G05B2219/45119 , G05B2219/45123
摘要： Devices, systems, and methods for controlling manipulator movements at joint range of motion limits are provided. In one aspect, methods include locking one or more joints of the manipulator when the one or more joints hit a respective joint limit by modifying an input into a Jacobian of the manipulator when calculating joint movement of a master control using inverse kinematics to provide improved, more intuitive force feedback through the master control. In some embodiments, scaling and weighting between different joint movements is applied within the inverse kinematics. In another aspect, methods include applying a constraint within the inverse kinematics so that calculated movement of the joints approach joint movements of an identical kinematic chain with applied loads within an isolated physical system.
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公开(公告)号：US12128566B2
公开(公告)日：2024-10-29
申请号：US17438377
申请日：2020-03-10
发明人： Ashwinram Suresh , Lawton Verner , Gabriel Brisson
IPC分类号： B25J9/16 , A61B34/30 , A61B34/37 , G05B19/4155 , B25J15/04
CPC分类号： B25J9/1664 , A61B34/37 , B25J9/1633 , G05B19/4155 , A61B2034/301 , B25J15/04 , G05B2219/40269
摘要： A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.
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公开(公告)号：US20220250242A1
公开(公告)日：2022-08-11
申请号：US17438377
申请日：2020-03-10
发明人： Ashwinram Suresh , Lawton Verner , Gabriel Brisson
IPC分类号： B25J9/16 , A61B34/37 , G05B19/4155
摘要： A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.
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公开(公告)号：US20170172672A1
公开(公告)日：2017-06-22
申请号：US15129252
申请日：2015-03-31
CPC分类号： A61B34/30 , A61B17/29 , A61B34/37 , A61B34/70 , A61B2017/00477 , A61B2034/305 , B25J9/1669
摘要： A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.
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