发明申请
US20200289213A1 SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT
审中-公开
基本信息:
- 专利标题： SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT
- 申请号：US16859892 申请日：2020-04-27
- 公开(公告)号：US20200289213A1 公开(公告)日：2020-09-17
- 发明人： Nitish Swarup , Arjang M. Hourtash
- 申请人： Intuitive Surgical Operations, Inc.
- 申请人地址： US CA Sunnyvale
- 专利权人： Intuitive Surgical Operations, Inc.
- 当前专利权人： Intuitive Surgical Operations, Inc.
- 当前专利权人地址： US CA Sunnyvale
- 主分类号： A61B34/30
- IPC分类号： A61B34/30 ; B25J9/16 ; B25J18/00 ; A61B34/37
摘要：
A method of operating a robotic system involves servoing a multitude of joints of the robotic system in a first joint velocity space. The movement of the multitude of joints in the first velocity space moves a remote center or an end effector of the robotic system. The method further involves floating the multitude of joints in a second velocity space. The movement of the multitude of joints in the second velocity space moves the end effector or the remote center, respectively. The method further involves controlling motion of the multitude of joints in a third velocity space. The movement of the multitude of joints in the third velocity space does not move the end effector and does not move the remote center.
公开/授权文献:
IPC结构图谱:
| A | 人类生活必需 |
| --A61 | 医学或兽医学；卫生学 |
| ----A61B | 诊断；外科；鉴定 |
| ------A61B34/00 | 计算机辅助外科学；专门适用于外科的操纵器或机器人 |
| --------A61B34/30 | .外科机器人 |