REPRESENTED BY THE EUROPEAN COMMISSION;THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM)
发明人:
RUIZ MORALES, EMILIO,CORRECHER SALVADOR, CARLOS
申请号：
ES12162692
公开号：
ES2535843T3
申请日:
2007.10.25
申请国别(地区):
ES
年份:
2015
代理人:
摘要：
Minimally invasive medical system comprising a robotic manipulator (10) that has an effector unit (12) equipped with a force / torque sensor of 6 degrees of freedom (6 DOF) (30), which has a reference system (X , Y, Z) of sensor with three axes that are orthogonal to each other and is configured to hold a minimally invasive instrument (14), presenting said instrument (14), when it is held by said effector unit (12), a first end ( 16) mounted on said effector unit, a second end (20) located beyond an external fulcrum (23) that limits the movement of said instrument and an instrument shaft (18) with a longitudinal axis that is collinear with an axis of instrument (Z) of said sensor reference system (X, Y, Z), said system comprising a programmable computer device programmed to: determine a position of said instrument with respect to the external fulcrum, which includes determining a distance vector of ref initial interference (Dfulcro0) from the origin of said reference system (X, Y, Z) from sensor to external fulcrum (23)； so that the determination of an initial reference distance vector (Dfulcro0) comprises: moving said minimally invasive instrument (14) along the two axes (X, Y) of said reference system (X, Y, Z) of sensor, which are perpendicular to said axis (Z) of the instrument respectively, until the reaction forces along the two axes (X, Y) are below a given threshold, which corresponds to a force of almost zero contact； and determining the position of the external fulcrum (23) along said axis (Z) of the instrument using the lever principle, by pivoting the instrument (14) with respect to its tip in a first direction until a first is reached sufficient contact force, said first contact force being determined by means of said 6 DOF force / torque sensor (30)； measuring the module of a first moment vector and the module of a first force vector corresponding to said first contact force； and calculating a first position of the external fulcrum (23) along said axis
