Systems and methods for controlling a robotic manipulator or associated tool

Patent metadata

Field	Value
Publication number	US-10952801-B2
Application number	US-201816495484-A
Country	US
Kind code	B2
Filing date	Nov 9, 2018
Priority date	Nov 10, 2017
Publication date	Mar 23, 2021
Grant date	Mar 23, 2021

Abstract

A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.

First claim

What is claimed is:

1. A system comprising:
a robotic manipulator configured for control of motion of a medical tool, the robotic manipulator including a joint and a link connected to the joint, wherein the link is configured to connect to the medical tool;
a processing unit including one or more processors, the processing unit configured to:
receive joint measurement data from an encoder of the joint;
generate a first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool using the joint measurement data, wherein the first parameter of the tool tip is a position or a velocity of the tool tip;
receive load side measurement data from a sensor system located at a sensor portion of the link or at the medical tool;
generate a second tool tip estimate of the first parameter of the tool tip using the joint measurement data and load side measurement data; and
control the joint based on a first difference between the first and second tool tip estimates.

2. The system of claim 1 , wherein to generate the second tool tip estimate, the processing unit is configured to:
generate a sensor portion estimate of a first parameter of the sensor portion using the joint measurement data and load side measurement data, wherein the first parameter of the sensor portion is a position or a velocity of the sensor portion; and
generate the second tool tip estimate based on the sensor portion estimate and a dynamic model between the sensor portion and the tool tip.

3. The system of claim 2 , wherein the sensor portion estimate is generated using a state estimator algorithm selected from the group consisting of a Kalman filter, a particle filter, a nonlinear observer, and an alpha-beta-gamma filter.

4. The system of claim 1 , wherein the processing unit is further configured to:
generate a third tool tip estimate of a second parameter of the tool tip using the joint measurement data, wherein the second parameter of the tool tip is the other of the position and the velocity of the tool tip;
generate a fourth tool tip estimate of the second parameter of the tool tip using the joint measurement data and load side measurement data; and
control the joint based on the first difference and a second difference between the third and fourth tool tip estimates.

5. The system of claim 1 , wherein the joint measurement data includes data associated with at least one of a position and a velocity of the joint.

6. The system of claim 1 , wherein the load side measurement data includes translational acceleration data and angular velocity data.

7. The system of claim 1 , wherein the sensor system includes an accelerometer and a gyroscope.

8. The system of claim 1 , further comprising:
an actuation assembly coupled to the joint to drive motion of the joint;
wherein to control the joint based on the first difference, the processing unit is configured to:
generate joint adjustment data based on the first difference; and
generate a control signal based on the joint adjustment data for controlling the actuation assembly.

9. The system of claim 8 , wherein the joint adjustment data is generated by applying inverse kinematics to the first difference.

10. The system of claim 9 , wherein the first difference includes a difference between a first tool tip velocity estimate of the first tool tip estimate and a second tool tip velocity estimate of the second tool tip estimate,
wherein the joint adjustment data includes joint velocity adjustment data, and
wherein an inverse Jacobian function is applied to the first difference to generate the joint velocity adjustment data.

11. A method comprising:
receiving joint measurement data from an encoder of a joint of a robotic manipulator, the robotic manipulator including a link connected to the joint;
generating a first tool tip estimate of a first parameter of a tool tip coupled at a distal end of a medical tool using the joint measurement data, wherein the medical tool is connected to the link, and wherein the first parameter of the tool tip is a position or a velocity of the tool tip;
receiving load side measurement data from a sensor system located at a sensor portion of the link or at the medical tool;
generating a second tool tip estimate of the first parameter of the tool tip using the joint measurement data and load side measurement data; and
controlling the joint based on a first difference between the first and second tool tip estimates.

12. The method of claim 11 , wherein generating the second tool tip estimate includes:
generating a sensor portion estimate of a first parameter of the sensor portion using the joint measurement data and load side measurement data, wherein the first parameter of the sensor portion is a position or a velocity of the sensor portion; and
generating the second tool tip estimate based on the sensor portion estimate and a dynamic model between the sensor portion and the tool tip.

13. The method of claim 12 , wherein the sensor portion estimate is generated using a state estimator algorithm selected from the group consisting of a Kalman filter, a particle filter, and an alpha-beta-gamma filter.

14. The method of claim 11 , further comprising:
generate a third tool tip estimate of a second parameter of the tool tip using the joint measurement data, wherein the second parameter of the tool tip is the other of the position and the velocity of the tool tip;
generate a fourth tool tip estimate of the second parameter of the tool tip using the joint measurement data and load side measurement data; and
control the joint based on the first difference and a second difference between the third and fourth tool tip estimates.

15. The method of claim 11 , wherein the joint measurement data includes data associated with at least one of a position and a velocity of the joint.

16. The method of claim 11 , wherein the load side measurement data includes translational acceleration data and angular velocity data.

17. The method of claim 11 , wherein the sensor system includes an accelerometer and a gyroscope.

18. The method of claim 11 , wherein the controlling the joint based on the first difference further includes:
generating joint adjustment data based on the first difference; and
generating a control signal based on the joint adjustment data for controlling an actuation assembly coupled to the joint to drive motion of the joint.

19. The method of claim 18 , wherein the joint adjustment data is generated by applying inverse kinematics to the first difference.

20. The method of claim 19 , wherein the first difference includes a difference between a first tool tip velocity estimate of the first tool tip estimate and a second tool tip velocity estimate of the second tool tip estimate,
wherein the joint adjustment data includes joint velocity adjustment data, and
wherein an inverse Jacobian function is applied to the first difference to generate the joint velocity adjustment data.

21. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which, when executed by one or more processors, are adapted to cause the one or more processors to perform a method comprising:
receiving joint measurement data from an encoder of a joint of a robotic manipulator, the robotic manipulator including a link connected to the joint;
generating a first tool tip estimate of a first parameter of a tool tip coupled at a distal end of a medical tool using the joint measurement data, wher

Assignees

• Intuitive Surgical Operations

Inventors

• Miller Daniel N
• Rabindran Dinesh
• Tierling Kollin M

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2562/0219

  Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title

• A61B2017/00199

  with a console, e.g. a control panel with a display · CPC title

• A61B34/74

  Manipulators with manual electric input means · CPC title