BRANDON D. ITKOWITZ,PAUL G. GRIFFITHS,NITISH SWARUP,KAMYAR ZIAEI
申请号：
US15522261
公开号：
US20170333142A1
申请日:
2015.10.27
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A computer-assisted medical device includes a first articulated arm, the first articulated arm having an end effector, a first joint set, a second joint set and a control unit. The control unit configures one or more joints in the first joint set to a floating mode, detects movement of the first joint set caused by a movement of the surgical table, drives the second joint set based on the movement of the surgical table, receives an instrument motion command to move the end effector while the surgical table is moving, and moves the end effector based on the instrument motion command. In some embodiments, the instrument motion command is relative to an imaging coordinate frame. In some embodiments, the imaging coordinate frame is based on a pose of an imaging device saved prior to the movement of the surgical table.
