发明名称 |
PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES |
摘要 |
Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body. |
申请公布号 |
WO2014028557(A1) |
申请公布日期 |
2014.02.20 |
申请号 |
WO2013US54834 |
申请日期 |
2013.08.14 |
申请人 |
INTUITIVE SURGICAL OPERATIONS, INC. |
发明人 |
HOURTASH, ARJANG M.;AU, SAMUEL KWOK WAI;BONNEAU, RAYMOND A.;DIOLAITI, NICOLA;HINGWE, PUSHKAR;KERDOK, AMY E.;TURNER, MICHAEL |
分类号 |
B25J13/00;A61B19/00;B25J18/00 |
主分类号 |
B25J13/00 |
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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