| 发明名称 |
ACTIVE AND SEMI-ACTIVE DAMPING IN A TELESURGICAL SYSTEM |
| 摘要 |
Methods and systems for damping vibrations in a surgical system are disclosed herein. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive, active, or semi-active damper. The damper can mitigate a vibration arising in one of the set-up linkages, and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback model and a feed-forward model. |
| 申请公布号 |
US2016030119(A1) |
申请公布日期 |
2016.02.04 |
| 申请号 |
US201514814858 |
申请日期 |
2015.07.31 |
| 申请人 |
Intuitive Surgical Operations, Inc. |
发明人 |
Devengenzo Roman L.;Schena Bruce M.;Robinson David W. |
| 分类号 |
A61B19/00 |
主分类号 |
A61B19/00 |
| 代理机构 |
|
代理人 |
|
| 主权项 |
1. A surgical system comprising:
a base; a first link mechanically coupled to the base; a second link mechanically coupled to the first link at a damper, the damper including a variable portion; a surgical tool supported by the second link; a sensor configured to detect a movement of at least one of the first link and the second link; and a processor configured to adjust the variable portion of the damper using the movement detected by the sensor. |
| 地址 |
Sunnyvale CA US |
