User initiated break-away clutching of a robotic system

Patent metadata

Field	Value
Publication number	US-12349992-B2
Application number	US-202217875266-A
Country	US
Kind code	B2
Filing date	Jul 27, 2022
Priority date	Aug 15, 2012
Publication date	Jul 8, 2025
Grant date	Jul 8, 2025

Abstract

User-initiated break-away clutching includes a robotic system having a joint, a brake or drive unit coupled to the joint, and a control system coupled with the brake or drive unit. The control system is configured to determine a first manual effort applied to the joint; inhibit, using the brake or drive unit, manual articulation of the joint in response to the first manual effort being below an articulation threshold; facilitate, using the brake or drive unit, the manual articulation of the joint in response to the first manual effort exceeding the articulation threshold; and inhibit, using the brake or drive unit, further manual articulation of the joint in response to a determination that a speed of the manual articulation of the joint is below a speed threshold.

First claim

What is claimed is:

1. A robotic system comprising:
a joint;
a drive system or brake system coupled to the joint; and
a control system coupled with the drive system or brake system, the control system being configured to:
determine a first manual effort applied to the joint,
inhibit, using the drive system or brake system, manual articulation of the joint in response to the first manual effort being below an articulation threshold,
facilitate, using the drive system or brake system, the manual articulation of the joint in response to the first manual effort exceeding the articulation threshold, and
inhibit, using the drive system or brake system, further manual articulation of the joint in response to a determination that a speed of the manual articulation of the joint is below a speed threshold.

2. The robotic system of claim 1 , wherein the control system is further configured to determine that the first manual effort exceeds the articulation threshold by detecting that a torque applied by the drive system or brake system to counteract the first manual effort reaches a threshold torque.

3. The robotic system of claim 1 , wherein the control system is further configured to:
use the drive system or brake system to hold the joint at a first position; and
determine that the first manual effort exceeds the articulation threshold by detecting that a displacement of the joint from the first position exceeds a threshold displacement.

4. The robotic system of claim 1 , wherein:
the robotic system further comprises a link coupled distally to the joint; and
the control system is further configured to determine that the first manual effort exceeds the articulation threshold by detecting that a force applied to the link exceeds a threshold force.

5. The robotic system of claim 1 , wherein:
the drive system or brake system comprises a brake associated with the joint; and
to inhibit the manual articulation of the joint, the control system is configured to apply the brake.

6. The robotic system of claim 1 , wherein:
the drive system or brake system comprises an actuator associated with the joint; and
to inhibit the manual articulation of the joint, the control system is configured to drive the actuator to counteract articulation of the joint.

7. The robotic system of claim 1 , wherein:
the drive system or brake system comprises a drive unit; and
the control system is further configured to operate the drive unit to compensate for friction, gravity, or momentum when facilitating the manual articulation of the joint.

8. The robotic system of claim 1 , wherein the control system is further configured to:
inhibit the manual articulation of the joint in response to determining that a cannula is mounted to a link coupled distally to the joint.

9. The robotic system of claim 1 , wherein the control system is configured to:
make the determination by determining that the speed of the manual articulation of the joint remains below the speed threshold for a threshold dwell time.

10. A method of controlling a robotic system, the method comprising:
determining, by a control system, a first manual effort applied to a joint of the robotic system;
inhibiting, by the control system using a drive system or brake system, manual articulation of the joint in response to the first manual effort being below an articulation threshold;
facilitating, by the control system using the drive system or brake system, the manual articulation of the joint in response to the first manual effort exceeding the articulation threshold; and
inhibiting, by the control system using the drive system or brake system, further manual articulation of the joint in response to a determination that a speed of the manual articulation of the joint is below a speed threshold.

11. The method of claim 10 , further comprising:
determining, by the control system, that the first manual effort exceeds the articulation threshold by detecting that a torque applied by the drive system or brake system to counteract the first manual effort reaches a threshold torque.

12. The method of claim 10 , further comprising:
using the drive system or brake system to hold the joint at a first position; and
determining, by the control system, that the first manual effort exceeds the articulation threshold by detecting that a displacement of the joint from the first position exceeds a threshold displacement.

13. The method of claim 10 , further comprising:
determining, by the control system, that the first manual effort exceeds the articulation threshold by detecting that a force applied to a link coupled distally to the joint exceeds a threshold force.

14. The method of claim 10 , wherein:
inhibiting the manual articulation of the joint comprises applying a brake of the drive system or brake system or driving an actuator of the drive system or brake system, to counteract articulation of the joint, the brake being associated with the joint, the actuator being associated with the joint.

15. The method of claim 10 , further comprising operating, by the control system, a drive unit of the drive system or brake system to compensate for friction, gravity, or momentum when facilitating the manual articulation of the joint.

16. The method of claim 10 , further comprising inhibiting the manual articulation of the joint in response to determining that a cannula is mounted to a link coupled distally to the joint.

17. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a robotic system are adapted to cause the one or more processors to perform a method comprising:
determining a first manual effort applied to a joint of the robotic system;
inhibiting, using a drive system or brake system, manual articulation of the joint in response to the first manual effort being below an articulation threshold;
facilitating, using the drive system or brake system, the manual articulation of the joint in response to the first manual effort exceeding the articulation threshold; and
inhibiting, using the drive system or brake system, further manual articulation of the joint in response to a determination that a speed of the manual articulation of the joint is below a speed threshold.

18. The non-transitory machine-readable medium of claim 17 , wherein the method further comprises determining that the first manual effort exceeds the articulation threshold by detecting at least one event selected from the group consisting of:
a torque applied by the drive system or brake system to counteract the first manual effort reaches a threshold torque;
a displacement of the joint from a held position of the joint exceeds a threshold displacement; and
a force applied to a link coupled distally to the joint exceeds a threshold force.

19. The non-transitory machine-readable medium of claim 17 , wherein the method further comprises:
operating a drive unit of the drive system or brake system to compensate for friction, gravity, or momentum when facilitating the manual articulation of the joint.

20. The non-transitory machine-readable medium of claim 17 , wherein the method further comprises:
inhibiting the manual articulation of the joint in response to determining that a cannula is mounted to a link coupled distally to the joint.

Assignees

• Intuitive Surgical Operations

Inventors

• Griffiths Paul
• Mohr Paul
• Swarup Nitish
• Hanuschik Michael

Classifications

• A61B90/50

  Supports for surgical instruments, e.g. articulated arms · CPC title

• A61B90/06

  Measuring instruments not otherwise provided for · CPC title

• A61B34/35

  for telesurgery · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• A61B2090/066

  for measuring torque · CPC title