Andrew Murray Scholan,Ben Robert Chaplin,Keith Marshall,Luke David Ronald Hares,Nikki Priyam Su-Ling Phoolchund,Thomas Bates Jackson
申请号：
US15355850
公开号：
US20170143435A1
申请日:
2016.11.18
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port； a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft； and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.
