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Method for navigating a robotic surgical catheter
专利权人:
发明人:
David B. Camarillo,Jake A. Sganga
申请号:
US15806561
公开号:
US20180125591A1
申请日:
2017.11.08
申请国别(地区):
US
年份:
2018
代理人:
摘要:
Autonomous closed loop control of a flexible tendon-driven continuum manipulator having a sensor at a distal tip is performed by measuring spatial attributes of a sensor at the distal tip and estimating an orientation of a base of an articulating region of the flexible tendon-driven continuum manipulator from a kinematic model and the spatial attributes of the sensor. The manipulator control in a task space uses the estimated orientation, a desired trajectory in the task space, and the position of the sensor at the distal tip. The sensor at the distal tip may be a magnetic sensor, impedance sensor, or optical sensor.
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