Positioning control apparatus

Patent metadata

Field	Value
Publication number	US-9833898-B2
Application number	US-201514848615-A
Country	US
Kind code	B2
Filing date	Sep 9, 2015
Priority date	Sep 11, 2014
Publication date	Dec 5, 2017
Grant date	Dec 5, 2017

Abstract

In an apparatus for controlling the positioning of an object having a specified point, a first limiter establishes a movable range of the specified point of the object, and limits movement of the specified point of the object within the movable range. The movable range includes a line connecting the position of the specified point of the object and a target position for the specified point of the object. A second limiter limits change of a specified orientation of the object from increasing an angular difference between the specified orientation of the object a target orientation for the specified orientation of the object.

First claim

What is claimed is:

1. An apparatus for controlling the positioning of an object having a specified point, the apparatus comprising:
a support arm that deformably supports the object while a position of the specified point of the object and a specified orientation that the object has are changeable, the support arm having a plurality of joints;
a plurality of position sensors, each sensing at least one of an angular position and a rotation quantity of a corresponding joint from the plurality of joints; and
a controller in communication with the plurality of position sensors and configured to:
calculate the position of the specified point of the object according to how the support arm is deformed based on the angular position and the rotation quantity of each of the plurality of joints sensed by the plurality of position sensors;
calculate the specified orientation of the object according to how the support arm is deformed based on the angular position and the rotation quantity of each of the plurality of joints sensed by the plurality of position sensors;
establish a movable range of the specified point of the object, and limits movement of the specified point of the object within the movable range, the movable range including a line connecting the position of the specified point of the object calculated by controller and a target position for the specified point of the object to reach;
limit change of the specified orientation of the object from increasing an angular difference between the specified orientation of the object calculated by the controller and a target orientation for the specified orientation of the object; and
move a position of the object within the movable range while limiting change of the specified orientation of the object from increasing the angular difference between the specified orientation of the object and the target orientation for the specified orientation of the object;
wherein the object is a medical tool.

2. The apparatus according to claim 1 , wherein the controller is configured to obtain:
the target position for the specified point of the object to reach, and
the target orientation for the specified orientation of the object.

3. The apparatus according to claim 2 , wherein the controller is further configured to reduce the movable range with approach of the specified point of the object to the target position.

4. The apparatus according to claim 2 , further comprising:
a reference member located on a predetermined reference object, the reference member having a predetermined reference point close to the target position for the specified point of the object, the reference member having a specified orientation;
a second support configured to support the reference member and deformed to locate the reference member to a predetermined reference position while the specified orientation of the reference member is associated with the target orientation for the specified orientation of the object; and
the controller is configured to obtain, according to how the second support is deformed, the predetermined reference position and the specified orientation of the reference member, and to obtain, according to the predetermined reference position and the specified orientation of the reference member, the target position and the target orientation.

5. The apparatus according to claim 1 , wherein the movable range has a predetermined type of a three-dimensional space having a plurality of surfaces and a plurality of apexes, the position of the specified point being located at one of the surfaces or one of the apexes, and the target position being located at another one of the surfaces or another one of the apexes,
the controller being further configured to reduce a volume of the three-dimensional space of the movable range with an approaching of the specified point of the object to the target position while maintaining the predetermined type of the three-dimensional space unchanged.

6. The apparatus according to claim 1 , wherein the movable range has a rectangular parallelepiped space, the rectangular parallelepiped space having a straight line serving as a longest diagonal line thereof, the straight line connecting the position of the specified point of the object and the target position,
the controller being further configured to reduce a volume of the rectangular parallelepiped space of the movable range while maintaining the straight line serving as the longest diagonal line of the rectangular parallelepiped space.

7. The apparatus according to claim 1 , wherein the controller is further configured to:
determine whether the specified point of the object has reached the target position,
keep unchanged the position of the specified point of the object upon determination that the specified point of the object has reached the target position, and
limit change of the specified orientation of the object from increasing the angular difference between the specified orientation of the object calculated by the controller and the target orientation for the specified orientation of the object after determination that the specified point of the object has reached the target position.

8. The apparatus according to claim 1 , further comprising:
a selection switch configured to select one of a first control mode and a second control mode;
wherein the controller is further configured to:
limit movement of the specified point of the object within the movable range while disabling the controller from limiting change of the specified orientation of the object from increasing the angular difference upon the selection switch selecting the first control mode; and
limit change of the specified orientation of the object from increasing the angular difference while keeping unchanged the position of the specified point of the object upon the selection switch selecting the second control mode.

9. The apparatus according to claim 1 , wherein the medical tool is a drill for cutting away part of at least one of a tooth or a bone of a patient.

10. The apparatus according to claim 1 , wherein the controller is further configured to:
establish a changeable angular range defined based on a relationship between a first coordinate axis and a second coordinate axis, the first coordinate axis including the specified orientation of the object, the second coordinate axis including the target orientation, for the specified orientation of the object, and
limit change of the specified orientation of the object such that a second angular difference between the first coordinate axis and the second coordinate axis is within the changeable angular range.

Assignees

• Denso Corp
• Univ Kyushu Nat Univ Corp

Inventors

• Toyoda Kazutaka
• Okuda Hideki
• Koyama Toshihiko
• Hashizume Makoto
• Ooutida Riichi

Classifications

• Y10S901/41

  Tool · CPC title

• B25J9/1689

  Teleoperation · CPC title

• G05B2219/45117

  Medical, radio surgery manipulator · CPC title

• Y10S901/14

  Arm movement, spatial · CPC title

• Y10S901/03

  Teaching system · CPC title