Vincent Duindam,Giuseppe Maria Prisco,Theodore W. Rogers,John Ryan Steger
申请号：
US12618082
公开号：
US08488130B2
申请日:
2009.11.13
申请国别(地区):
US
年份:
2013
代理人:
摘要：
A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.
