Tao Zhao,Wenyi Zhao,Brian D. Hoffman,William C. Nowlin,Hua Hui
申请号：
US12495304
公开号：
US08971597B2
申请日:
2009.06.30
申请国别(地区):
US
年份:
2015
代理人:
摘要：
Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.
