发明名称 |
COOPERATIVELY-CONTROLLED SURGICAL ROBOTIC SYSTEM WITH REDUNDANT FORCE SENSING |
摘要 |
A cooperatively controlled robotic system includes a main robot assembly, and an arm assembly comprising a proximal end and a distal end. The arm assembly is connected to the main robot assembly at the proximal end. The system also includes a tool assembly connected to the arm assembly at the distal end, a first force sensor between the distal end of the arm assembly and the tool assembly, and a second force sensor between the proximal end of the arm assembly and the main robot assembly. The system includes a control system that is configured to determine a force applied at the first force sensor based on a force detected by the second force sensor, and to compare the determined force to a force detected by the first force sensor to detect a failure of at least one of the first and second force sensors. |
申请公布号 |
WO2016201303(A1) |
申请公布日期 |
2016.12.15 |
申请号 |
WO2016US36990 |
申请日期 |
2016.06.10 |
申请人 |
THE JOHNS HOPKINS UNIVERSITY |
发明人 |
BALICKI, Marcin Arkadiusz;OLDS, Kevin C.;TAYLOR, Russell H. |
分类号 |
A61B34/30;A61B34/00;G01L5/00 |
主分类号 |
A61B34/30 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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