Scalable filtering infrastructure for variable control rates in a distributed system such as a surgical robotic system

Patent metadata

Field	Value
Publication number	US-12456549-B2
Application number	US-202418752185-A
Country	US
Kind code	B2
Filing date	Jun 24, 2024
Priority date	Jul 2, 2021
Publication date	Oct 28, 2025
Grant date	Oct 28, 2025

Abstract

For a scalable filtering infrastructure, a library of filters each usable at different control rates is provided by defining filters in a continuous time mode despite eventual use for digital filtering. For implementation, a filter is selected and discretized for the desired control rate. The discretized filter is then deployed as a discrete time realization for convolution. In a distributed system with multiple control rates, the library may be used to more rapidly and conveniently generate the desired filters.

First claim

What is claimed is:

1. A method for filtering information in a surgical robotic system, the method comprising:
generating a library of filters including first filter based on a sample rate for the information in the surgical robotic system, the sample rate being based on an operating mode of the surgical robotic system;
filtering the information using the library of filters including the first filter; and
operating the surgical robotic system with the filtered information.

2. The method of claim 1 wherein generating comprises generating the first filter as a s-domain transfer function independent of the sample rate.

3. The method of claim 1 wherein generating comprises generating the library of filters including the first filter, the filters of the library including filters of different types.

4. The method of claim 3 wherein generating the library comprises translating filter definitions based on requirements into continuous domain transfer functions.

5. The method of claim 1 further comprising forming a z-domain transfer function as a discrete time transfer function at the sample rate.

6. The method of claim 1 further comprising bilinear, bilinear with prewarp, or matched substitution of a continuous time variable of the first filter.

7. The method of claim 1 wherein filtering comprises realizing the first filter as a convolution of the information with a linear system realization of the first filter.

8. The method of claim 1 wherein filtering comprises convolving as a controllable, observable, or time series with input-output form.

9. The method of claim 1 wherein filtering comprises filtering with shift operations.

10. The method of claim 1 further comprising discretizing a second filter of the library of filters based on a different sample rate in the surgical robotic system, filtering signals at the different sample rate with a linear system realization of the second filter, and operating the surgical robotic system with the filtered signals from the second filter.

11. The method of claim 10 wherein the surgical robotic system comprises a distributed system wherein the filtering of the information is performed for a first component of the distributed system and the filtering of the signals is performed for a second component of the distributed system.

12. The method of claim 1 further comprising discretizing with the sampling rate being based on the operating mode comprising one of a clinical mode, a simulation mode, or a standalone mode.

13. A surgical robotic system for filtering at different control rates, the surgical robotic system comprising:
a surgical robot having a first component operable at a first control rate;
a user console configured to receive user input for control of the surgical robot, the user console having a second component operable at a second control rate different than the first control rate; and
a processor configured to discretize a first filter from a library of filters with the first control rate and a second filter from the library with the second control rate, the processor configured to generate discrete time realizations of the first and second filters.

14. The surgical robotic system of claim 13 wherein the first component is configured to apply the first filter and the second component is configured to apply the second filter.

15. The surgical robotic system of claim 13 wherein the surgical robot and the user console are operable in a clinical mode for operation on a patient, in a simulation mode for simulating operation on a patient, and in a standalone mode for failure in communications between the surgical robot and the user console.

16. The surgical robotic system of claim 13 wherein the filters of the library are defined in a continuous domain as s-domain transfer functions with defined transfer functions, cut-off frequencies, attenuations, bandwidths, and orders, wherein the first and second filters as discretized comprise z-domain transfer functions, and wherein the discrete time realizations of the first and second filters comprise linear system realizations.

17. A method for scalable filtering infrastructure, the method comprising:
selecting a filter from a library of filters based on a first control rate of a surgical robotic system, the filters of the library being independent of the first control rate;
converting the selected filter to the first control rate;
generating a filter kernel for the converted filter; and
filtering signals with the filter kernel at the first control rate.

18. The method of claim 17 further comprising inputting, by a designer, filter requirements including the first control rate for a component that operates at the first control rate, the filter requirements including an order limited by memory requirements.

19. The method of claim 17 wherein the filter comprises a first filter and the signals comprise first signals, and wherein filtering comprises filtering the first signals by a first processor of the surgical robotic system with distributed components, the first processor in a first component of the distributed components, and further comprising repeating the selecting, converting, generating, and filtering for a second filter at a second control rate different than the first control rate, second signals for the second filter being in a second component of the distributed components.

20. The method of claim 17 wherein selecting comprises selecting where the filters of the library are in a continuous time domain, wherein converting comprises discretizing the filter from the continuous time domain to a discrete time domain at the first control rate, wherein generating comprises performing linear system realization from the discrete time domain, and wherein filtering comprises filtering the signals as digital signals.

Assignees

• Verb Surgical Inc

Inventors

• Shrivastava Apoorv
• Yu Haoran
• Zhou Renbin
• Sen H Tutkun
• Hariri Alireza

Classifications

• A61B34/10

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• B25J9/1605

  Simulation of manipulator lay-out, design, modelling of manipulator · CPC title

• A61B2034/101

  Computer-aided simulation of surgical operations · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• G16H40/40

  for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades · CPC title