US 12,329,475 B2
Inverse kinematic control systems for robotic surgical system
Jiqi Cheng, Cheshire, CT (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jul. 5, 2022, as Appl. No. 17/857,364.
Application 17/857,364 is a continuation of application No. 16/081,773, abandoned, previously published as PCT/US2017/020567, filed on Mar. 3, 2017.
Claims priority of provisional application 62/303,437, filed on Mar. 4, 2016.
Prior Publication US 2022/0338943 A1, Oct. 27, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 17/29 (2006.01); A61B 34/00 (2016.01); B25J 9/16 (2006.01); B25J 13/02 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/29 (2013.01); A61B 34/74 (2016.02); A61B 34/76 (2016.02); B25J 9/1689 (2013.01); B25J 13/025 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
a user interface including an input handle movable to output an input pose having an input angle;
a robotic arm including a surgical instrument, wherein the surgical instrument includes:
a shaft;
a link coupled to the shaft and pivotal relative to the shaft at a pitch angle about a pitch point; and
a tool coupled to the link and pivotal relative to the link at a yaw angle about a yaw axis having a tool center point; and
a processing unit configured to:
receive the input pose;
calculate an inverse kinematic solution for the surgical instrument based on the input pose and a model of the surgical instrument;
determine whether the inverse kinematic solution is desirable based on at least one of joint limit, speed limit, or an acceleration limit of the surgical instrument;
correct the input pose based on the inverse kinematic solution being undesirable;
recalculate the inverse kinematic solution for the surgical instrument based on the corrected input pose; and
command the robotic arm to move the surgical instrument based on the recalculated inverse kinematic solution.