发明名称 |
Tool actuation and force feedback on robot-assisted microsurgery system |
摘要 |
An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.
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申请公布号 |
US6233504(B1) |
申请公布日期 |
2001.05.15 |
申请号 |
US19990292761 |
申请日期 |
1999.04.14 |
申请人 |
CALIFORNIA INSTITUTE OF TECHNOLOGY |
发明人 |
DAS HARI;OHM TIM R.;BOSWELL CURTIS D.;STEELE ROBERT D. |
分类号 |
A61B19/00;B25J9/16;B25J9/18;G06F3/00;G06F3/01;(IPC1-7):G05B15/00;G05B19/00 |
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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