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Surgical robotic arm admittance control
专利权人:
Auris Health; Inc.
发明人:
Kurt Christopher Meyer,Shu-Yun Chung,Mingyen Ho
申请号:
US15729558
公开号:
US10016900B1
申请日:
2017.10.10
申请国别(地区):
US
年份:
2018
代理人:
摘要:
Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.
来源网站:
中国工程科技知识中心
来源网址:
http://www.ckcest.cn/home/

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