US 12,239,397 B2
Assisted drive mode with damping function for robotic imaging system
Patrick Terry, Goleta, CA (US)
Assigned to Alcon Inc., Fribourg (CH)
Filed by Alcon Inc., Fribourg (CH)
Filed on Sep. 2, 2022, as Appl. No. 17/902,430.
Claims priority of provisional application 63/243,939, filed on Sep. 14, 2021.
Prior Publication US 2023/0086411 A1, Mar. 23, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 90/361 (2016.02); A61B 2034/305 (2016.02); A61B 2090/066 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A robotic imaging system comprising:
a camera configured to record one or more images of a target site;
a robotic arm operatively connected to the camera, the robotic arm being adapted to selectively move the camera relative to the target site;
a sensor configured to detect and transmit sensor data representing forces imparted by a user and/or torque imparted by the user for moving the camera;
a controller configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded; and
wherein the controller is adapted to:
selectively execute an assisted drive mode, including determining a movement sequence for the robotic arm based in part on the sensor data and a damping function; and
apply the damping function including obtaining a sum of one or more damping curves and inputting the sum into a hysteresis filter;
the hysteresis filter is adapted to permit an output damping value to increase at a same rate as an input force vector representing the forces and/or an input torque vector representing the torque imparted by the user; and
the hysteresis filter is adapted to prevent the output damping value from decreasing at the same rate as the input force vector and/or the input torque vector.