SWARUP, Nitish,GRIFFITHS, Paul G.,LYNCH, Goran,MILLER, Daniel
申请号：
EP15855456
公开号：
EP3212108A4
申请日:
2015.10.27
申请国别(地区):
EP
年份:
2018
代理人:
摘要：
A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.
