发明名称 |
PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES |
摘要 |
Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body. |
申请公布号 |
US2016213435(A1) |
申请公布日期 |
2016.07.28 |
申请号 |
US201615003556 |
申请日期 |
2016.01.21 |
申请人 |
Intuitive Surgical Operations, Inc. |
发明人 |
Hourtash Arjang M.;Au Samuel Kwok Wai;Bonneau Raymond A.;Diolaiti Nicola;Hingwe Pushkar;Kerdok Amy E.;Turner Michael |
分类号 |
A61B34/37;A61B34/35;B25J9/16 |
主分类号 |
A61B34/37 |
代理机构 |
|
代理人 |
|
主权项 |
1. (canceled) |
地址 |
Sunnyvale CA US |