Brandon D. ITKOWITZ,Nitish SWARUP,Paul G. GRIFFITHS,Goran LYNCH
申请号：
US16743218
公开号：
US20200146764A1
申请日:
2020.01.15
申请国别(地区):
US
年份:
2020
代理人:
摘要：
A system and method of maintaining a tool position and orientation for a computer-assisted device include an articulated structure including a plurality of joints and a control unit coupled to the articulated structure. The control unit is configured to determine whether a cannula or an instrument is coupled to a distal end of the articulated structure and in response to determining that the cannula or the instrument is coupled to the distal end of the articulated structure: determine an initial position and orientation of the instrument prior to detection of a disturbance in a first joint of the plurality of joints； determine, during the disturbance in the first joint, a current position and orientation of the instrument； determine a difference between the current position and orientation and the initial position and orientation； and drive at least a second joint of the plurality of joints based on the difference.
