Frame mapping and force feedback methods, devices and systems

摘要

Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to the operator, regardless of the actual position and orientation of the slave manipulator. Methods, devices, and systems relating to force feedback associated with medical robotic procedures.

主权项

1. A method for controlling movement of a robotic arm of a medical robot system, the robotic arm operatively associated with a tool, the medical robot system comprising:
a medical robot under operator control having at least one robotic arm, a camera configured to provide an image of the tool, and a reference structure having a fixed orientation relative to the camera, the method comprising:
determining a calculated motion of the tool wherein:
the determining of the calculated motion is based on an input value received from a controller device that provides input from a user; andthe calculated motion is expressed in an observer coordinate system that comprises a first axis oriented in fixed relation with an axis of the tool and a second axis oriented orthogonal to the first axis and such that its projection into a plane defined by X and Y axis of an orthogonal coordinate system defined relative to the reference structure is parallel to and pointing in the same direction as the X axis; andoutputting an actuation signal to move the robotic arm in accordance with the calculated motion.