Systems and methods for dynamic adjustments based on load inputs for robotic systems
Systems and methods for dynamic adjustments based on load inputs for robotic systems are provided. In one aspect, a robotic system includes a first robotic arm having at least one joint, a set of one or more processors, and at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions. The computer executable instructions cause the one or more processors to determine a first external load threshold for the at least one joint based on a maximum safe load capability of the first robotic arm, and adjust the first external load threshold during a medical procedure.
1 . A method performed by a processor of a robotic system comprising a robotic arm, wherein the method comprises:
determining an external load threshold for a joint of the robotic arm in the robotic system based on a maximum safe load capability of the robotic arm, and
adjusting the external load threshold during a medical procedure, wherein the external load threshold is adjusted in response to a change in a pose of the robotic arm.
2 . The method of claim 1 , further comprising determining a load applied to the joint based on at least one of a gravity load or an inertia load of the robotic arm.
3 . The method of claim 2 , wherein the external load threshold is further determined based on a difference between the maximum safe load capability and the at least one of the gravity load or the inertia load of the robotic arm.
4 . The method of claim 1 , further comprising determining a second external load threshold for a second robotic arm in the robotic system, wherein the external load threshold is different from the second external load threshold.
5 . The method of claim 1 , wherein the maximum safe load capability is fixed.
6 . The method of claim 1 , wherein the maximum safe load capability varies based on at least one of time or temperature.
7 . The method of claim 1 , further comprising:
determining that an external load applied to the joint exceeds the external load threshold based on a signal received from one or more sensors positioned on the robotic arm, and
restricting further movement of the robotic arm in response to receiving the signal from the one or more sensors indicating that the external load applied to the joint exceeds the external load threshold.
8 . The method of claim 1 , further comprising maintaining, by one or more brakes of the robotic arm, a pose of the robotic arm, wherein the one or more brakes comprise a holding torque, and wherein the external load threshold is further determined based on the holding torque of the one or more brakes.
9 . The method of claim 1 , wherein the joint of the robotic arm includes a first joint, wherein the robotic arm includes a second joint, wherein the external load threshold includes a first external load threshold, wherein the method further comprises determining a second external load threshold for the second joint of the robotic arm in the robotic system based on a maximum safe load capability of the robotic arm.
10 . A robotic system, comprising:
a robotic arm having at least one joint and an end effector;
one or more processors; and
at least one computer-readable memory in communication with the one or more processors and storing computer-executable instructions to cause the one or more processors to:
determine an external load applied to the at least one joint of the robotic arm;
determine an external load threshold for the at least one joint based on a maximum safe load capability of the robotic arm and the external load applied to the at least one joint of the robotic arm; and
adjust a remote center of the end effector based on a relationship of the external load to the external load threshold during a medical procedure.
11 . The robotic system of claim 10 , wherein the computer-executable instructions further cause the one or more processors to:
determine that the external load applied to the at least one joint exceeds the external load threshold based on a signal received from one or more sensors positioned on the robotic arm, and
restricting further movement of the robotic arm in response to receiving the signal from the one or more sensors indicating that the external load applied to the at least one joint exceeds the external load threshold.
12 . The robotic system of claim 10 , wherein the robotic arm comprises one or more brakes configured to maintain a pose of the robotic arm based on a holding torque of the one or more brakes, and wherein the external load threshold is based on the holding torque of the one or more brakes.
13 . The robotic system of claim 12 , wherein the one or more brakes are further configured to maintain the pose of the robotic arm when the robotic arm is powered off or the robotic arm is in a fault state.
14 . The robotic system of claim 10 , wherein the at least one joint includes a first joint and a second joint, wherein the external load threshold includes a first external load threshold relating to the first joint and a second external load threshold relating to the second joint, wherein the stored computer-executable instructions are configured to cause the one or more processors to adjust the first external load threshold of the first joint and to adjust the second external load threshold of the second joint.
15 . A method performed by a processor of a robotic system comprising a robotic arm, wherein the method comprises:
determining a load applied to each of a plurality of joints of the robotic arm based on at least one of a gravity load or inertia load of the robotic arm, and
setting a respective maximum external load threshold for each joint of the plurality of joints based on a maximum safe load capability of the respective joint and the at least one of the gravity load or the inertia load, such that a first joint of the plurality of joints has a first maximum external load threshold while a second joint of the plurality of joints has a second maximum external load threshold, the second maximum external load threshold being different from the first maximum external load threshold.
16 . The method of claim 15 , further comprising adjusting the maximum external load threshold for one or more of the joints during a medical procedure.
17 . The method of claim 15 , wherein the maximum external load threshold is adjusted in response to a change in a pose of the robotic arm.
18 . The method of claim 15 , further comprising determining a second maximum external load threshold for a second robotic arm of the robotic system, wherein the maximum external load threshold is different from the second maximum external load threshold.
19 . The method of claim 15 , wherein the maximum safe load capability for at least one of the joints is fixed.
20 . The method of claim 15 , wherein the maximum safe load capability varies based on at least one of time or temperature.