US 12,076,099 B2
Projection operator for inverse kinematics of a surgical robot for low degree of freedom tools
Apoorv Shrivastava, Santa Clara, CA (US); Renbin Zhou, Santa Clara, CA (US); Haoran Yu, Santa Clara, CA (US); Seungkook Yun, Santa Clara, CA (US); and Ellen Klingbeil, Santa Clara, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Jul. 6, 2021, as Appl. No. 17/368,221.
Prior Publication US 2023/0009907 A1, Jan. 12, 2023
Int. Cl. G06F 17/00 (2019.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/35 (2016.02) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); B25J 9/1689 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for teleoperation of a surgical robotic system, the method comprising:
receiving a user command to move a surgical tool mounted to a robotic arm, the user command including rotation of the surgical tool where the surgical tool is rotatable only in less than three degrees of freedom;
solving for motion from the user command with inverse kinematics, the solving having a projection from the user command to feasible motion based on the less than three degrees of freedom, wherein solving comprises solving with a rotation selection matrix in the projection, the rotation selection matrix being in an end effector coordinate system of the surgical tool and indicating feasible and not feasible rotations; and
moving the robotic arm or surgical tool based on a solution from the solving.