Force estimation and visual feedback in surgical robotics
Inventors
KHALIFA, Sammy • Sachs, Adam • Eilenberg, Michael • Chopra, Pankaj • Bunne, Michael • Bail, Jeff
Assignees
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Publication Number
US-12558171-B2
Publication Date
2026-02-24
Expiration Date
Abstract
Described herein are methods and systems for determining force in a robotic surgical system. In some embodiments, a force applied by a robotic component (e.g. a robotic arm, a segment of a robotic arm, or a joint of a robotic arm) is determined. Also described herein are methods and systems for providing visual (e.g., direction and magnitude) feedback to a user without the need for direct haptic feedback. Such visual feedback may be presented to the user in conjunction with haptic feedback.
Core Innovation
The invention determines an output force applied by an output joint of a cable-driven surgical robot. It applies motor force to a cable connected to the output joint, identifies joint, cable, and motor parameters for a lumped-parameter model indicative of the robot's interactive structural configuration, and performs a dynamical simulation during use to determine the output force. Parameters are measured using at least one sensor or estimated via dynamical simulation.
The method and system determine output-joint force through a lumped-parameter model and dynamical simulation during robot use. The accompanying description identifies force comparison, motor-force adjustment, reaction-force estimation, and audiovisual feedback as related operations performed during system operation. Motor, cable, capstan, pulley, encoder, and sensor arrangements support force and motion modeling within the robot control architecture.
Claims Coverage
The independent claims include a computer-implemented method and a computer-implemented system, encompassing three inventive features.
Method for identifying model parameters
The claim applies motor force to a cable communicatively connected to the output joint and identifies parameters of a lumped-parameter model indicative of the robot's interactive structural configuration, including at least one joint parameter, at least one cable parameter, and at least one motor parameter measured using a sensor or estimated via dynamical simulation.
Dynamical simulation to determine output force
The claim determines the output force applied by the output joint by performing a dynamical simulation during use of the cable-driven surgical robot using the identified parameters.
Computer-implemented surgical robot system
The claim recites a cable-driven surgical robot comprising a motor, an output joint, and a cable communicatively connected to the output joint, with one or more operatively coupled computer processors configured to apply motor force, identify the model parameters through sensor measurement or dynamical simulation, and determine output-joint force by dynamical simulation during robot use.
The independent claims cover a method and a corresponding system for determining output-joint force in a cable-driven surgical robot using a lumped-parameter model and dynamical simulation during use.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Determining the output force applied by an output joint of a cable-driven surgical robot during use.
Providing audiovisual feedback related to output force, including a virtual-object representation whose variable changes based on the determined force.
Comparing motor force and output force, adjusting motor force, and estimating reaction force during robot operation.
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