发明名称 |
SYSTEMS AND METHODS FOR TRACKING A PATH USING THE NULL-SPACE |
摘要 |
Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein. |
申请公布号 |
US2016263746(A1) |
申请公布日期 |
2016.09.15 |
申请号 |
US201615057073 |
申请日期 |
2016.02.29 |
申请人 |
Intuitive Surgical Operations, Inc. |
发明人 |
Swarup Nitish;Hourtash Arjang M.;Mohr Paul W. |
分类号 |
B25J9/16;A61B34/20;A61B34/37;B25J18/00 |
主分类号 |
B25J9/16 |
代理机构 |
|
代理人 |
|
主权项 |
1. (canceled) |
地址 |
Sunnyvale CA US |