US 12,269,180 B2
Stereoscopic visualization camera and integrated robotics platform with force/torque sensor non-linearity correction
Hossein Faraji, Goleta, CA (US); Stephen Minne, Goleta, CA (US); and Michael Larkin, Goleta, CA (US)
Assigned to Digital Surgery Systems, Inc., Goleta, CA (US)
Filed by Digital Surgery Systems, Inc., Goleta, CA (US)
Filed on Sep. 23, 2022, as Appl. No. 17/951,536.
Claims priority of provisional application 63/248,297, filed on Sep. 24, 2021.
Prior Publication US 2023/0110248 A1, Apr. 13, 2023
Int. Cl. B25J 9/16 (2006.01); A61B 90/00 (2016.01); A61B 90/25 (2016.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1692 (2013.01); A61B 90/25 (2016.02); A61B 90/37 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system for calibrating and correcting sensors associated with a collaborative robot, the system comprising:
a robotic arm,
a sensor affixed to a location on the robotic arm, wherein the sensor measures force and torque across six degrees of freedom (6DOF),
a processor, and
memory storing computer-executable instructions that, when executed by the processor, cause the processor to:
receive, from the sensor, sensor input in real-time, the sensor input indicating a measured force applied at the location of the sensor; and
generate, in real-time, sensor corrections to the sensor input,
wherein the sensor corrections correspond to offset, linear, and non-linear deviations of the measured force in each sensor axis,
wherein the sensor corrections correspond to offset, linear, and non-linear cross-coupling of the measured force between two or more sensor axes, and
wherein the sensor corrections are determined by applying offset, linear, and non nonlinear corrections to each degree of freedom from every other degree of freedom.