System and method for interacting with an object

Patent metadata

Field	Value
Publication number	US-9339346-B2
Application number	US-201414505801-A
Country	US
Kind code	B2
Filing date	Oct 3, 2014
Priority date	Oct 4, 2013
Publication date	May 17, 2016
Grant date	May 17, 2016

Abstract

System and methods for positioning a tool in a robotic system include determining primary position information for the tool at a first frequency and determining secondary position information for the tool at a second frequency. The tool is moved in a first position control mode and a second position control mode based on the primary position information and the secondary position information. At least one of the first and second frequencies in each of the first and second position control modes is adjusted. A difference between the first and second frequencies in the first position control mode is different than a difference between the first and second frequencies in the second position control mode.

First claim

What is claimed is:

1. A system for interacting with an object, said system comprising:
a robotic manipulator having a base and a plurality of linkages;
a tool coupled to said robotic manipulator and movable relative to said base to interact with the object;
a plurality of position sensors associated with said plurality of linkages for providing primary position information at a first frequency;
a localizer for providing secondary position information at a second frequency;
a position controller configured to position said tool with respect to the object in a first position control mode and a second position control mode based on said primary position information and said secondary position information; and
a frequency controller configured to adjust at least one of said first and second frequencies in each of said first and second position control modes so that a difference between said first and second frequencies in said first position control mode is different than a difference between said first and second frequencies in said second position control mode.

2. The system as set forth in claim 1 wherein said primary position information includes encoder-based position commands for commanding movement of said tool in a manipulator coordinate system.

3. The system as set forth in claim 2 wherein said secondary position information includes navigation-based position and orientation data transformed from a localizer coordinate system to the said manipulator coordinate system.

4. The system as set forth in claim 1 wherein said difference between said first and second frequencies in said first position control mode is greater than said difference between said first and second frequencies in said second position control mode.

5. The system as set forth in claim 1 wherein said difference between said first and second frequencies in said first position control mode is non-zero.

6. The system as set forth in claim 1 wherein said first frequency is greater than said second frequency in said first position control mode.

7. The system as set forth in claim 1 wherein said difference between said first and second frequencies in said second position control mode is zero.

8. The system as set forth in claim 1 wherein said first frequency is substantially equal to said second frequency in said second position control mode.

9. The system as set forth in claim 1 wherein said second frequency is approximately 1/10 or less of said first frequency in said first position control mode and said second frequency is equal to or greater than 1/10 of said first frequency in said second position control mode.

10. The system as set forth in claim 1 wherein said difference between said first and second frequencies influences a positional speed of said tool.

11. The system as set forth in claim 10 wherein said positional speed of said tool in said first position control mode is greater than said positional speed of said tool in said second position control mode.

12. The system as set forth in claim 1 wherein said difference between said first and second frequencies influences a positional accuracy of said tool.

13. The system as set forth in claim 12 wherein said positional accuracy of said tool in said second position control mode is greater than said positional accuracy of said tool in said first position control mode.

14. The system as set forth in claim 1 further including an interface coupled to said frequency controller for enabling selective adjustment of at least one of said first and second frequencies.

15. The system as set forth in claim 1 further including an interface coupled to said frequency controller for enabling selection of said first and second position control modes.

16. The system as set forth in claim 1 wherein said plurality of position sensors include a plurality of position encoders.

17. A method for positioning a tool in a robotic system, the robotic system comprising a robotic manipulator having a base and a plurality of linkages with the tool coupled to the robotic manipulator and being moveable relative to the base to interact with an object, a plurality of position sensors associated with the plurality of linkages, a localizer for providing secondary position information, and one or more controllers, said method comprising:
providing primary position information via the position sensors at a first frequency;
providing secondary position information via the localizer at a second frequency;
the one or more controller executing the steps of:
moving the tool in a first position control mode and a second position control mode based on the primary position information and the secondary position information; and
adjusting at least one of the first and second frequencies in each of the first and second position control modes so that a difference between the first and second frequencies in the first position control mode is different than a difference between the first and second frequencies in the second position control mode.

18. The method of claim 17 wherein providing primary position information includes generating position commands for commanding movement of the tool in a manipulator coordinate system at the first frequency.

19. The method claim 17 wherein providing secondary position information includes updating transformation of navigation-based position and orientation data from a localizer coordinate system to a manipulator coordinate system at the second frequency.

20. The method of claim 17 further including influencing a positional speed of the tool based on the difference between the first and second frequencies such that the positional speed in the first position control mode is greater than the positional speed in the second position control mode.

21. The method of claim 17 further including influencing a positional accuracy of the tool based on the difference between the first and second frequencies such that the positional accuracy in the second position control mode is greater than the positional accuracy in the first position control mode.

22. The method of claim 17 wherein adjusting at least one of the first and second frequencies occurs autonomously.

23. The method of claim 17 wherein adjusting at least one of the first and second frequencies occurs manually.

24. The method of claim 17 further including manually selecting at least one of the first and second position control modes.

25. The method of claim 17 further including autonomously selecting the first and second position control modes.

Assignees

• Stryker Corp

Inventors

• Malackowski Donald W

Classifications

• A61B2034/2059

  Mechanical position encoders · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2090/0818

  Redundant systems, e.g. using two independent measuring systems and comparing the signals · CPC title

• G05B2219/45117

  Medical, radio surgery manipulator · CPC title