US 12,324,643 B2
Method and system for mitigating collision of surgical robot
Jong Do Choi, Suwon-si (KR); and Tae Won Kim, Gunpo-si (KR)
Assigned to Meere Company Inc., Hwaseong-si (KR)
Appl. No. 17/413,263
Filed by MEERE COMPANY INC., Hwaseong-si (KR)
PCT Filed Nov. 1, 2019, PCT No. PCT/KR2019/014697
§ 371(c)(1), (2) Date Jun. 11, 2021,
PCT Pub. No. WO2020/122416, PCT Pub. Date Jun. 18, 2020.
Claims priority of application No. 10-2018-0161177 (KR), filed on Dec. 13, 2018.
Prior Publication US 2022/0047345 A1, Feb. 17, 2022
Int. Cl. A61B 34/37 (2016.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 19/06 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/37 (2016.02) [B25J 9/1666 (2013.01); B25J 9/1676 (2013.01); B25J 13/085 (2013.01); B25J 19/06 (2013.01); A61B 2090/066 (2016.02); B25J 13/088 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method of mitigating a collision of a slave robot for surgery, the method comprising:
first obtaining an external torque generated in response to the slave robot colliding with another object or a person;
second obtaining a joint angle of the slave robot;
calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated;
controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle;
comparing the obtained external torque with a reference value;
repeatedly performing a cycle of the first obtaining, second obtaining, calculating, controlling and comparing, in response to the obtained external torque being equal to or greater than the reference value;
measuring a period in which the cycle is repeatedly performed; and
controlling the slave robot not to move in response to the measured period being equal to or longer than a preset period.