US 12,004,836 B2
Surgical manipulator and method of operating the same using virtual rigid body modeling preliminary
David G. Bowling, Los Ranchos De Albuquerque, NM (US); John Michael Stuart, Rio Rancho, NM (US); and Joel N. Beer, Albuquerque, NM (US)
Assigned to Stryker Corporation, Kalamazoo, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on Mar. 15, 2023, as Appl. No. 18/121,617.
Application 14/841,062 is a division of application No. 13/958,070, filed on Aug. 2, 2013, granted, now 9,119,655, issued on Sep. 1, 2015.
Application 18/121,617 is a continuation of application No. 17/347,999, filed on Jun. 15, 2021, granted, now 11,639,001.
Application 17/347,999 is a continuation of application No. 16/409,024, filed on May 10, 2019, granted, now 11,045,958, issued on Jun. 29, 2021.
Application 16/409,024 is a continuation of application No. 15/401,567, filed on Jan. 9, 2017, granted, now 10,314,661, issued on Jun. 11, 2019.
Application 15/401,567 is a continuation of application No. 14/841,062, filed on Aug. 31, 2015, granted, now 9,566,125, issued on Feb. 14, 2017.
Claims priority of provisional application 61/792,251, filed on Mar. 15, 2013.
Claims priority of provisional application 61/679,258, filed on Aug. 3, 2012.
Prior Publication US 2023/0234239 A1, Jul. 27, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01); B25J 13/00 (2006.01); A61B 17/16 (2006.01)
CPC A61B 34/74 (2016.02) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 34/76 (2016.02); B25J 9/161 (2013.01); B25J 9/1633 (2013.01); B25J 13/00 (2013.01); A61B 17/16 (2013.01); A61B 2034/104 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); Y10S 901/09 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A surgical manipulator comprising:
a surgical instrument including an energy applicator;
an arm comprising a plurality of links and joints, wherein an angle between adjacent links forms a joint angle, and the arm comprising a distal end configured to support the surgical instrument; and
at least one controller coupled to the arm and configured to control operation of the surgical manipulator in a manual mode or a semi-autonomous mode by being configured to:
model the surgical instrument and the energy applicator as a virtual rigid body;
selectively apply a plurality of input forces and/or torques to the virtual rigid body to simulate orientation and movement of the surgical instrument and the energy applicator;
selectively adjust the plurality of input forces and/or torques based on whether the surgical manipulator is operated in the manual mode or the semi-autonomous mode;
determine a commanded pose for the surgical instrument and the energy applicator based on the selective application and adjustment of the plurality of input forces and/or torques; and
determine commanded joint angles for the arm that place the surgical instrument and the energy applicator according to the commanded pose.