Invention Grant
- Patent Title: Methods of controlling motion of under-actuated joints in a surgical set-up structure
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Application No.: US16002509Application Date: 2018-06-07
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Publication No.: US10709515B2Publication Date: 2020-07-14
- Inventor: Paul G. Griffiths , Paul W. Mohr , Brandon D. Itkowitz
- Applicant: Intuitive Surgical Operations, Inc.
- Applicant Address: US CA Sunnyvale
- Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee Address: US CA Sunnyvale
- Agency: Kilpatrick Townsend & Stockton LLP
- Main IPC: A61B34/32
- IPC: A61B34/32 ; A61B34/35 ; A61B34/30 ; A61B34/37 ; B25J9/02 ; B25J9/16 ; A61B90/00 ; A61B90/50

Abstract:
Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In another aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.
Public/Granted literature
- US20180280098A1 Methods of Controlling Motion of Under-Actuated Joints in a Surgical Set-up Structure Public/Granted day:2018-10-04
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