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TOOL GRIP CALIBRATION FOR ROBOTIC SURGERY
专利权人:
Inc.;Intuitive Surgical Operations
发明人:
Thomas R. Nixon
申请号:
US15877364
公开号:
US20180185109A1
申请日:
2018.01.22
申请国别(地区):
US
年份:
2018
代理人:
摘要:
Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.
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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