Brandon D. ITKOWITZ,Paul G. GRIFFITHS,Nitish SWARUP,Kamyar ZIAEI
申请号：
US16809471
公开号：
US20200229880A1
申请日:
2020.03.04
申请国别(地区):
US
年份:
2020
代理人:
摘要：
A computer-assisted device includes an articulated arm configured to support an end effector and a control unit configured to, when coupled to the articulated arm and a table: determine a virtual coordinate frame before a first joint of the articulated arm is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine a movement of the table, and drive a second joint of the articulated arm based on the movement of the first joint and the movement of the table. In some embodiments, the virtual coordinate frame is based on a pose of an imaging device and/or is detached from the imaging device. In some embodiments, the control unit is further configured to maintain the virtual coordinate frame in fixed relationship to a top of the table based on motion data received from the table.
