| 摘要 |
The method involves moving a sound generating device (3) attached to an attaching device (9) into proximity with a surface area of a living organism (10) i.e. skin. A force-regulated operation of drives (15) is obtained under control of a control device (6) during manual guiding such that a robot arm (5) presses the sound generating device against the living organism with a force while the sound is applied to the living organism. The robot arm is guided to move the sound generating device while simultaneously operating the drives under gravity regulation and controlled by the control device. An independent claim is also included for a medical robot for carrying out a method for operating a medical robot, comprising a robot arm. |
