您的位置: 首页 > 农业专利 > 详情页

METHOD OF OPERATING A MINIMALLY INVASIVE MEDICAL SYSTEM COMPRISING A MANIPULATOR AND A SYSTEM THEREFOR
专利权人:
发明人:
EMILIO RUIZ MORALES,CARLOS SALVADOR CORRECHER
申请号:
IN1648/MUMNP/2012
公开号:
IN2012MN01648A
申请日:
2012.07.02
申请国别(地区):
IN
年份:
2013
代理人:
摘要:
A method of force estimation for a minimally invasive medical system comprising a robot manipulator (10). The manipulator has an effector unit (12) equipped with a 6-degrees-of- freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument (14) having a first end (16) mounted to the effector unit and a second end (20) located beyond an external fulcrum (23) that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: - determining a position of the instrument relative to the fulcrum - measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument and - calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.
来源网站:
中国工程科技知识中心
来源网址:
http://www.ckcest.cn/home/

意 见 箱

匿名:登录

个人用户登录

找回密码

第三方账号登录

忘记密码

个人用户注册

必须为有效邮箱
6~16位数字与字母组合
6~16位数字与字母组合
请输入正确的手机号码

信息补充