Yanan Huang,Colin Allen Wilson,David Stephen Mintz,Jason Tomas Wilson
申请号：
US16413955
公开号：
US20190350662A1
申请日:
2019.05.16
申请国别(地区):
US
年份:
2019
代理人:
摘要：
A robotically enabled teleoperated system can include a controller and an instrument capable of manipulation by the controller. The instrument can be a medical instrument. The controller can include a handle configured for actuation by an operator. The handle can be attached to a gimbal configured to allow manipulation of the handle in multiple rotational degrees of freedom. The gimbal can include a load cell. The gimbal can be configured for impedance control. The controller can also include a positioning platform coupled to the gimbal and configured to allow manipulation of the handle in multiple positional degrees of freedom. The controller can be configured for admittance control based at least in part on an output signal of the load cell in the gimbal.
