您的位置: 首页 > 农业专利 > 详情页

TENSION CONTROL IN ACTUATION OF MULTI-JOINT MEDICAL INSTRUMENTS
专利权人:
Intuitive Surgical Operations; Inc.
发明人:
Samuel Kwok Wai Au,Giuseppe Maria Prisco
申请号:
US15649148
公开号:
US20170304014A1
申请日:
2017.07.13
申请国别(地区):
US
年份:
2017
代理人:
摘要:
Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.
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