GRIFFITHS, Paul G.,MOHR, Paul W.,ITKOWITZ, Brandon D.,NIXON, Thomas R.,DEVENGENZO, Roman
申请号：
EP15765708
公开号：
EP3119338A4
申请日:
2015.03.17
申请国别(地区):
EP
年份:
2017
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. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.
