发明名称 |
METHODS OF CONTROLLING MOTION OF UNDER-ACTUATED JOINTS IN A SURGICAL SET-UP STRUCTURE |
摘要 |
Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In an other aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time. |
申请公布号 |
EP3119336(A1) |
申请公布日期 |
2017.01.25 |
申请号 |
EP20150765509 |
申请日期 |
2015.03.17 |
申请人 |
Intuitive Surgical Operations, Inc. |
发明人 |
GRIFFITHS, Paul G.;MOHR, Paul W.;ITKOWITZ, Brandon D. |
分类号 |
A61B90/00 |
主分类号 |
A61B90/00 |
代理机构 |
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代理人 |
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