System with brake to limit manual movement of member and control system for same

Patent metadata

Field	Value
Publication number	US-10052166-B2
Application number	US-201715670894-A
Country	US
Kind code	B2
Filing date	Aug 7, 2017
Priority date	Oct 1, 2009
Publication date	Aug 21, 2018
Grant date	Aug 21, 2018

Abstract

A robotic system includes an articulated member comprising a joint and configured to be manually moved by a user to facilitate performance of a task and a controller. The controller is programmed to determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region, generate a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region, and maintain the force feedback signal until a user disengages the force feedback.

First claim

What is claimed is:

1. A robotic system, comprising:
an articulated member comprising a joint and configured to be manually moved by a user to facilitate performance of a task; and
a controller programmed to:
determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region;
generate a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region; and
maintain the force feedback signal until a user disengages force feedback.

2. The robotic system of claim 1 , wherein the articulated member is configured to couple to at least a first object and a second object that is interchangeable with the first object and has a different weight than the first object.

3. The robotic system of claim 1 , wherein the controller is programmed to enable the user to continuously modify at least one of a size of the braking region, a location of the braking region, a shape of the braking region, and a magnitude of the force feedback signal.

4. The robotic system of claim 1 , wherein the controller is programmed to enable the user to modify at least one of the braking region and a magnitude of the force feedback signal without changing a mechanical configuration of the robotic system.

5. The robotic system of claim 1 , wherein the controller is programmed to maintain the force feedback signal until the user moves the articulated member such that the angular position of the joint is outside of the braking region.

6. The robotic system of claim 1 , wherein the controller is programmed to maintain the force feedback signal until the user turns off the force feedback.

7. The robotic system of claim 1 , wherein the articulated member includes at least one unbraked joint, and wherein the controller is programmed to maintain the force feedback signal until the user manually moves at least a portion of the articulated member comprising an unbraked joint.

8. A method of inhibiting movement of an articulated member, comprising:
determining whether an angular position of a joint of the articulated member is moved within an angular range of motion defined by a braking region;
generating a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region; and
maintaining the force feedback signal until a user disengages force feedback.

9. The method of claim 8 , wherein the articulated member is configured to couple to at least a first object and a second object that is interchangeable with the first object and has a different weight than the first object.

10. The method of claim 8 , further comprising enabling the user to continuously modify at least one of a size of the braking region, a location of the braking region, a shape of the braking region, and a magnitude of the force feedback signal.

11. The method of claim 8 , further comprising enabling the user to modify at least one of the braking region and a magnitude of the force feedback signal without changing a mechanical configuration of a robotic system comprising the articulated member.

12. The method of claim 8 , wherein maintaining the force feedback signal comprises maintaining the force feedback signal until the user moves the articulated member such that the angular position of the joint is outside of the braking region.

13. The method of claim 8 , wherein maintaining the force feedback signal comprises maintaining the force feedback signal until the user turns off the force feedback.

14. The method of claim 8 , wherein the articulated member includes at least one unbraked joint, and wherein maintaining the force feedback signal comprises maintaining the force feedback signal until the user manually moves at least a portion of the articulated member comprising an unbraked joint.

15. The method of claim 8 , wherein generating the force feedback signal comprises generating the force feedback signal continuously in the braking region.

16. The method of claim 8 , wherein generating the force feedback signal comprises generating the force feedback signal discontinuously in the braking region.

17. A control system configured to be integrated with a robotic system having a moveable member comprising a joint, comprising:
a controller programmed to:
determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region;
generate a force feedback signal compensating for a gravitational load on the moveable member to inhibit manual movement in space of at least a portion of the moveable member when the angular position of the joint is in the braking region; and
maintain the force feedback signal until a user disengages force feedback.

18. The control system of claim 17 , wherein the controller is configured to generate the force feedback signal for payloads of the robotic system having different weights.

19. The control system of claim 17 , wherein the controller is programmed to maintain the force feedback signal until the user moves the moveable member such that the angular position of the joint is outside of the braking region.

20. The control system of claim 17 , wherein the controller is programmed to maintain the force feedback signal until the user turns off the force feedback.

21. The control system of claim 17 , wherein the movable member includes at least one unbraked joint, and wherein the controller is programmed to maintain the force feedback signal until the user manually moves at least a portion of the movable member comprising an unbraked joint.

Assignees

• Mako Surgical Corp

Inventors

• Ziaei Kam
• Moses Dennis

Classifications

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B17/1666

  for the acetabulum · CPC title

• A61B17/162

  Chucks or tool parts which are to be held in a chuck · CPC title

• A61F2/4609

  of acetabular cups · CPC title