US 12,296,479 B2
Admittance mode control system and method for robotic arm
Eric Lavigne, Boisbriand (CA); Sebastien Messier, Boisbriand (CA); Sebastien Boisvert, Boisbriand (CA); and Jean-Luc Bouchard, Boisbriand (CA)
Assigned to KINOVA INC., Boisbriand (CA)
Appl. No. 16/756,880
Filed by KINOVA INC., Boisbriand (CA)
PCT Filed Oct. 19, 2018, PCT No. PCT/CA2018/051321
§ 371(c)(1), (2) Date Apr. 17, 2020,
PCT Pub. No. WO2019/075572, PCT Pub. Date Apr. 25, 2019.
Claims priority of provisional application 62/574,506, filed on Oct. 19, 2017.
Prior Publication US 2021/0197366 A1, Jul. 1, 2021
Int. Cl. B25J 9/16 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC B25J 9/161 (2013.01) [A61B 34/30 (2016.02); A61B 34/70 (2016.02); B25J 9/1635 (2013.01); B25J 9/1643 (2013.01)] 20 Claims
OG exemplary drawing
 
11. A method for converting an operation of a robotic arm into admittance mode, the robotic arm of the type having an admittance switch, a rotary contact, and control circuitry connected to the admittance switch via the rotary contact, the method comprising:
receiving signals from the rotary contact during use of the robotic arm in a procedure;
interpreting the signals to filter circuit misconduct from admittance switch activation, the circuit misconduct originating from the rotary contact;
identifying one of the signals as admittance switch activation; and
communicating a request for admittance to a robot driver to convert an operation of the robotic arm into admittance mode, the admittance mode enabling constrained movements of the robotic arm as guided by manipulations.