发明名称 |
FORCE ESTIMATION FOR A MINIMALLY INVASIVE ROBOTIC SURGERY SYSTEM |
摘要 |
A method of force estimation for a minimally invasive medical system comprising a robot manipulator (10). The manipulator has an effector unit (12) equipped with a 6 degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument (14) having a first end (16) mounted to the effector unit and a second end (20) located beyond an external fulcrum (23) that limits the instrument in motion, usually to 4 DOF.
The method comprising the steps:
- determining a position of the instrument relative to the fulcrum;
- measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and
- calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque. |
申请公布号 |
PT2083737(E) |
申请公布日期 |
2015.09.28 |
申请号 |
PT20070821857T |
申请日期 |
2007.10.25 |
申请人 |
THE EUROP ATOMIC ENERG COMM (EURATOM), REPR BY THE EUROPEAN COMMISSION |
发明人 |
EMILIO RUIZ MORALES;CARLOS CORRECHER SALVADOR |
分类号 |
A61B19/00;B25J9/04 |
主分类号 |
A61B19/00 |
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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