Techniques for detecting errors or loss of accuracy in a surgical robotic system
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United States of America Patent
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Jun 15, 2021
Grant Date -
Jul 30, 2020
app pub date -
Apr 14, 2020
filing date -
Dec 16, 2016
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Abstract
Systems and methods for operating a robotic surgical system are provided. The system includes a surgical tool, a manipulator comprising links for controlling the tool, a navigation system comprising a tracker coupled to the manipulator or the tool and a localizer to monitor a state of the tracker. Controller(s) determine a raw (or lightly filtered) relationship between one or more components of the manipulator and one or more components of the navigation system by utilizing one or more of raw kinematic measurement data from the manipulator and raw navigation data from the navigation system. The controller(s) utilize the raw (or lightly filtered) relationship to determine whether an error has occurred relating to at least one of the manipulator and the navigation system.
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