US 11,701,783 B2
Surgical robotic arm admittance control
Kurt Christopher Meyer, Redwood City, CA (US); Shu-Yun Chung, San Jose, CA (US); and Mingyen Ho, Santa Clara, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Oct. 4, 2019, as Appl. No. 16/593,769.
Application 16/593,769 is a continuation of application No. 16/011,317, filed on Jun. 18, 2018, granted, now 10,434,660.
Application 16/011,317 is a continuation of application No. 15/729,558, filed on Oct. 10, 2017, granted, now 10,016,900, issued on Jul. 10, 2018.
Prior Publication US 2020/0039086 A1, Feb. 6, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); B25J 13/08 (2006.01); A61B 46/10 (2016.01); B25J 9/00 (2006.01); G05B 19/00 (2006.01); B25J 9/16 (2006.01); A61B 90/50 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); A61B 50/13 (2016.01); A61G 13/04 (2006.01)
CPC B25J 13/085 (2013.01) [A61B 34/30 (2016.02); A61B 46/10 (2016.02); B25J 9/0084 (2013.01); B25J 9/1607 (2013.01); G05B 19/00 (2013.01); A61B 34/77 (2016.02); A61B 50/13 (2016.02); A61B 90/50 (2016.02); A61B 2017/00477 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/301 (2016.02); A61B 2090/066 (2016.02); A61B 2090/067 (2016.02); A61G 13/04 (2013.01)] 26 Claims
OG exemplary drawing
 
1. A method of driving movement of a robotic arm, comprising:
determining at least one parameter indicative of a target resistance to the movement of the robotic arm based on a data output from at least one sensor, the data indicative of a force at a reference point on the robotic arm, the robotic arm comprising at least two linkages and at least one joint connecting the at least two linkages;
determining a deadband of the force; and
driving the movement of the robotic arm based at least in part on the at least one parameter and restricting movement of the robotic arm to be responsive to values of the force outside of the deadband.