Regulating joint space velocity of a surgical robotic arm
A surgical robotic system has a surgical robotic arm, and a programmed processor that determines a longest principal axis of a velocity ellipsoid for a first configuration of the arm, applies a maximum task space velocity (that is in the direction of the longest principal axis) to an inverse kinematics equation which computes a potential joint space velocity, computes a ratio of i) the potential joint space velocity and ii) a joint space velocity limit of the arm, and applies the ratio to an initial joint space velocity, to produce a regulated joint space velocity. Other aspects are also described and claimed.
1. A method for regulating joint space velocity of a surgical robotic arm, the method comprising:
computing a potential joint space velocity of a surgical robotic arm based on a task space velocity;
computing a ratio of i) the potential joint space velocity and ii) a joint space velocity limit for the surgical robotic arm; and
driving the surgical robotic arm based on the ratio.
2. The method of claim 1 wherein the joint space velocity limit is less than the potential joint space velocity, the method further comprising
applying the ratio to an initial joint space velocity to produce a regulated joint space velocity,
and wherein driving the surgical robotic arm based on the ratio comprises driving the surgical robotic arm based on the regulated joint space velocity.
3. The method of claim 1 wherein driving the surgical robotic arm comprises
applying the ratio to update a plurality of motor control commands that control a plurality of motorized joints of the surgical robotic arm.
4. The method of claim 1 further comprising:
transforming a new task space velocity to a new potential joint space velocity;
computing a new ratio based on i) said ratio and ii) a comparison between the new task space velocity and a previous task space velocity; and
driving the surgical robotic arm based on the new ratio.
5. The method of claim 4 wherein driving the surgical robotic arm comprises
applying the new ratio to update a plurality of motor control commands that control a plurality of motorized joints of the surgical robotic arm.
6. The method of claim 1 further comprising:
in response to detecting a changed configuration of the surgical robotic arm, computing a longest principal axis of a velocity ellipsoid for the changed configuration;
receiving a new task space velocity and producing a new vector, the new vector having a norm of the new task space velocity and an orientation of the longest principal axis, and based on the new vector computing an updated potential joint space velocity;
computing an updated ratio of i) the updated potential joint space velocity and ii) the joint space velocity limit; and
applying the updated ratio to a transformation of the new task space velocity into joint space, which produces an updated regulated joint space velocity.
7. The method of claim 6 further comprising
updating a plurality of motor control commands that control a plurality of motorized joints of the surgical robotic arm using the updated regulated joint space velocity, which causes an end effector on the surgical robotic arm to be driven to a new task space position in accordance with a new user input device position.
8. The method of claim 1 wherein computing the potential joint space velocity comprises applying a norm of the task space velocity along a longest principal axis of a velocity ellipsoid for the surgical robotic arm, the method further comprising computing the velocity ellipsoid using an inverse Jacobian for the surgical robotic arm.
9. A surgical robotic system comprising:
a surgical robotic arm; and
a programmed processor that is to
a) produce a vector based on a task space velocity in a first configuration of a surgical robotic arm, and compute a potential joint space velocity based on the vector,
b) compute a ratio of i) the potential joint space velocity and ii) a joint space velocity limit of the surgical robotic arm, and
c) drive the surgical robotic arm using the ratio.
10. The surgical robotic system of claim 9 wherein the programmed processor is to:
determine a second configuration of the surgical robotic arm, in response to an end effector on the surgical robotic arm being guided to a new task space position; and
repeat operations a)-c) for the second configuration.
11. The surgical robotic system of claim 9 wherein the first configuration comprises
data on current joint space position of each of a plurality of joints of the surgical robotic arm.
12. The surgical robotic system of claim 11 wherein the first configuration further comprises
data on joint space velocity limit of each of a plurality of motorized joints of the surgical robotic arm.
13. The surgical robotic system of claim 9 wherein the joint space velocity limit is less than the potential joint space velocity, and the programmed processor is further configured to apply the ratio to an initial joint space velocity to produce a regulated joint space velocity that is less than the potential joint space velocity.
14. The surgical robotic system of claim 13 wherein the processor is further configured to:
compute a new task space velocity in accordance with a user input device tracking sequence;
transform the new task space velocity to a new potential joint space velocity without recomputing a longest principal axis of a velocity ellipsoid;
compute a new ratio as in b) using the new potential joint space velocity; and
use the new ratio to drive the surgical robotic arm.
15. The surgical robotic system of claim 9 wherein the programmed processor drives the surgical robotic arm by updating, using the ratio, a plurality of motor control commands that control a plurality of motorized joints of the surgical robotic arm.
16. The surgical robotic system of claim 9 wherein the programmed processor is configured to compute the ratio by:
for each motorized joint of a plurality of motorized joints in the surgical robotic arm, computing a potential joint velocity along a longest principal axis of a velocity ellipsoid based on the task space velocity; and
when the potential joint velocity exceeds a joint velocity limit of the motorized joint, computing the ratio as between i) the joint velocity limit of the motorized joint and ii) the potential joint velocity.
17. A method for regulating velocity of a surgical robotic arm, the method comprising:
a) for each active joint of a plurality of active joints of a surgical robotic arm, computing a respective potential joint velocity based on a task space velocity;
b) if the respective potential joint velocity exceeds a joint velocity limit of each active joint, then computing a ratio for each active joint as between i) the joint velocity limit and ii) the respective potential joint velocity, else setting the ratio of each active joint to unity; and
c) driving the surgical robotic arm in accordance with the ratio for each active joint, of the plurality of active joints.
18. The method of claim 17 wherein the respective potential joint velocity comprises a linear velocity or an angular velocity.
19. The method of claim 17 wherein when there are two or more active joints, in the plurality of active joints, for which the respective potential joint velocity exceeds the joint velocity limit of each active joint, and two or more ratios are computed for the two or more active joints, respectively, the method further comprises selecting the smallest of the two or more ratios for use in driving the surgical robotic arm in c).
20. The method of claim 17 further comprising:
receiving a further task space velocity;
for each active joint of the plurality of active joints, computing a further respective potential joint velocity based on the further task space velocity; and
if the further respective potential joint velocity does not exceed the joint velocity limit of each active joint, then leaving the further respective potential joint velocity unchanged to use in driving the surgical robotic arm,
else if the further respective potential joint velocity does exceed the joint velocity limit, then computing a new ratio between i) the joint velocity limit and ii) the further respective potential joint velocity, and using the new ratio in driving the surgical robotic arm.