Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path

Patent metadata

Field	Value
Publication number	US-9226796-B2
Application number	US-201414208293-A
Country	US
Kind code	B2
Filing date	Mar 13, 2014
Priority date	Aug 3, 2012
Publication date	Jan 5, 2016
Grant date	Jan 5, 2016

Abstract

A method is provided for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path. The method includes determining actual torques for each active joint of an actuated arm mechanism and calculating expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint. The method further determines estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path.

First claim

What is claimed is:

1. A method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path, the method being implemented on at least one computing device having a non-transitory computer-readable storage medium with an executable program stored thereon, said method comprising the steps of:
executing the program stored on the computer-readable storage medium, wherein the program instructs the at least one computing device to:
determine actual torques for each active joint of an actuated arm mechanism supporting the surgical instrument;
calculate expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint;
determine estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path;
convert the estimated backdrive torques to a backdrive force having a force component and a torque component;
filter the backdrive force by: comparing an absolute value of the magnitude for each component of the backdrive force with a threshold; setting to zero each component of the backdrive force that has an absolute value less than the threshold; and calculating a filtered backdrive force based on the differences between the threshold and the components of the backdrive force having an absolute value greater than the threshold; and
generate an external force based on the filtered backdrive force and a sensor force derived from a force/torque sensor mounted to an end effector coupled to the surgical instrument.

2. The method of claim 1 , wherein the disturbance is a collision with an object along the cutting path.

3. The method of claim 1 , wherein the disturbance is a collision with an object in a workspace of the surgical instrument.

4. The method of claim 1 , wherein the program instructs the at least one computing device to determine the actual torques by measuring currents applied to joint motors associated with each active joint.

5. The method of claim 1 , wherein the program instructs the at least one computing device to determine the actual torques by measuring the torque for each active joint using a torque sensor.

6. The method of claim 1 , wherein the program instructs the at least one computing device to determine the actual torques by blending currents applied to joint motors associated with each active joint with torques measured by a torque sensor for each active joint.

7. The method of claim 1 , wherein the estimated backdrive torques are the difference between the expected torques and the actual torques.

8. The method of claim 1 , wherein the commanded joint angles position the energy applicator of the surgical instrument to a target position along the cutting path.

9. The method of claim 1 , wherein the program instructs the at least one computing device to calculate the commanded joint angles based on a commanded pose to which the energy applicator is advanced along the cutting path.

10. The method of claim 9 , wherein the program instructs the at least one computing device to determine the commanded pose based on a summation of a plurality of input forces and torques.

11. The method of claim 1 , wherein the disturbance generates a force that opposes movement of the energy applicator along the cutting path.

12. The method of claim 11 , wherein the backdrive force is in the same direction as the force generated by the disturbance.

13. The method of claim 1 , wherein the threshold for the force components is different than the threshold for the torque components.

14. The method of claim 1 , wherein the external force is a weighted sum of the filtered backdrive force and the sensor force.

15. The method of claim 1 , wherein the external force has a force vector component and a torque vector component.

16. The method of claim 15 , wherein the force vector component is calculated according to the equation:
{right arrow over (F)} EXT =A BDR {right arrow over (F)} BDR +A FTS {right arrow over (F)} FTS

where, {right arrow over (F)} BDR is the force vector component of the filtered backdrive force F BDR , vector {right arrow over (F)} FTS is the force vector component of the sensor force F FTS , and A BDR and A FTS are weighting factor coefficients.

17. The method of claim 16 , wherein the torque vector component is calculated according to the equation:
{right arrow over (T)} EXT =B BDR {right arrow over (T)} BDR +B FTS {right arrow over (T)} FTS
where, {right arrow over (T)} BDR is the torque vector component of the filtered backdrive force, F EDR , vector {right arrow over (T)} FTS is the torque vector component of the sensor force, F FTS , and B BDR and B FTS are weighting factor coefficients.

18. The method of claim 10 , wherein the program instructs the at least one computing device to move the energy applicator to the commanded pose in a semi-autonomous mode.

19. The method of claim 18 , wherein the program instructs the at least one computing device to reorient the surgical instrument as the energy applicator advances along the cutting path in response to reorientation forces and torques applied to the surgical instrument by a user while in the semi-autonomous mode.

20. The method of claim 18 , wherein the program instructs the at least one computing device to transition movement of the energy applicator from the semi-autonomous mode to a manual mode in response to the sensor force being greater than a limit.

Assignees

• Stryker Corp

Inventors

• Bowling David Gene
• Stuart John Michael
• Culp Jerry A
• Malackowski Donald W
• Roessler Patrick
• Beer Joel N
• Ketchel John
• Moctezuma De La Barrera José Luis

Classifications

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• B25J9/009

  being mechanically linked with one another at their distal ends · CPC title

• A61B34/32

  operating autonomously · CPC title

• G05B2219/45117

  Medical, radio surgery manipulator · CPC title

• A61B34/37

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