Paul GRIFFITHS,Paul MOHR,Nitish SWARUP,Michael HANUSCHIK
申请号：
US15259951
公开号：
US20160374768A1
申请日:
2016.09.08
申请国别(地区):
US
年份:
2016
代理人:
摘要：
Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. A set-up mode employs an intuitive user interface in which one or more joints of the kinematic linkage are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. Embodiments of the invention can provide for manual movement of a platform supporting a plurality of surgical manipulators or the like without having to add additional input devices.
