US 12,232,836 B2
Apparatus, systems and methods for dynamic online kinematic adaptation of medical robots
Konrad Leibrandt, Corona, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Oct. 21, 2020, as Appl. No. 17/076,755.
Claims priority of provisional application 62/924,905, filed on Oct. 23, 2019.
Prior Publication US 2021/0121253 A1, Apr. 29, 2021
Int. Cl. B25J 9/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/35 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/35 (2016.02) [A61B 34/20 (2016.02); A61B 34/74 (2016.02); B25J 9/0072 (2013.01); B25J 9/1682 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method on a robotic medical system comprising a staging kinematic chain capable of motion with one or more degrees of freedom (DOF), wherein the staging kinematic chain is coupled to a plurality of independently articulable robotic arms, the method comprising:
determining a first configuration of the robotic arms based on a first inverse kinematic model that includes the robotic arms and assumes that the staging kinematic chain is static, wherein:
the first configuration of the robotic arms effectuates one or more corresponding desired poses of one or more instruments coupled to the robotic arms;
proximal ends of the robotic arms are coupled to a same mobile portion of the staging kinematic chain; and
the first inverse kinematic model is based on a plurality of independent kinematic chains, wherein each independent kinematic chain corresponds to a distinct robotic arm;
determining a set of control parameter values associated with one or more of the robotic arms based on the first configuration; and
determining, in response to at least one determined control parameter value falling outside a corresponding control parameter range of the parameter values, a pose of the staging kinematic chain and a second configuration of the robotic arms to effectuate the one or more corresponding desired poses of the one or more instruments, wherein the second configuration is determined based on a second inverse kinematic model that includes the robotic arms and assumes that the staging kinematic chain is mobile.