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1. (WO2018226673) ROBOTIC SYSTEM AND METHOD FOR PRODUCING REACTIVE FORCES TO IMPLEMENT VIRTUAL BOUNDARIES
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Pub. No.: WO/2018/226673 International Application No.: PCT/US2018/036029
Publication Date: 13.12.2018 International Filing Date: 05.06.2018
IPC:
B25J 9/16 (2006.01) ,G06F 3/01 (2006.01) ,A61B 34/00 (2016.01) ,A61B 34/30 (2016.01) ,A61B 34/10 (2016.01) ,A61B 34/20 (2016.01) ,A61B 18/00 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
F
ELECTRIC DIGITAL DATA PROCESSING
3
Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01
Input arrangements or combined input and output arrangements for interaction between user and computer
[IPC code unknown for A61B 34][IPC code unknown for A61B 34/30][IPC code unknown for A61B 34/10][IPC code unknown for A61B 34/20]
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
B
DIAGNOSIS; SURGERY; IDENTIFICATION
18
Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
Applicants:
MAKO SURGICAL CORP. [US/US]; 2555 Davie Road Ft. Lauderdale, FL 33317, US
Inventors:
BOWLING, David, Gene; US
Agent:
FARES, Samir A.; HOWARD & HOWARD ATTORNEYS PLLC 450 West Fourth Street Royal Oak, Michigan 48067, US
Priority Data:
62/517,45309.06.2017US
Title (EN) ROBOTIC SYSTEM AND METHOD FOR PRODUCING REACTIVE FORCES TO IMPLEMENT VIRTUAL BOUNDARIES
(FR) SYSTÈME ROBOTIQUE ET PROCÉDÉ DE PRODUCTION DE FORCES RÉACTIVES POUR METTRE EN PLACE DES LIMITES VIRTUELLES
Abstract:
(EN) A robotic system and methods are provided. The robotic system comprises a tool and a manipulator with links for moving the tool. A controller implements a virtual simulation wherein the tool is represented as a virtual volume interacting with a virtual boundary defined by a mesh of polygonal elements. The controller computes a reactive force responsive to penetration of polygonal elements by the virtual volume. The reactive force is computed based on a penetration factor being a function of a geometry of the virtual volume bound relative to a geometry of the polygonal element. The controller applies the reactive force to the virtual volume to reduce penetration of the polygonal element by the virtual volume. The controller commands the manipulator to move the tool in accordance with application of the reactive force to the virtual volume to constrain movement of the tool relative to the virtual boundary.
(FR) L'invention porte sur un système robotique et sur des procédés. Le système robotique comprend un outil et un manipulateur doté de liaisons destinées à déplacer l'outil. Un dispositif de commande met en œuvre une simulation virtuelle, l'outil étant représenté sous la forme d'un volume virtuel interagissant avec une limite virtuelle définie par un maillage d'éléments polygonaux. Le dispositif de commande calcule une force réactive en réponse à la pénétration d'éléments polygonaux par le volume virtuel. La force réactive est calculée sur la base d'un facteur de pénétration qui est une fonction d'une géométrie du volume virtuel lié par rapport à une géométrie de l'élément polygonal. Le dispositif de commande applique la force réactive au volume virtuel pour réduire la pénétration de l'élément polygonal par le volume virtuel. Le dispositif de commande commande au manipulateur de déplacer l'outil conformément à l'application de la force réactive au volume virtuel pour contraindre le mouvement de l'outil par rapport à la limite virtuelle.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)