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Control methods of single-port surgical robots
专利权人:
发明人:
Jun Won Jang,Hyun Do Choi,Hyung Joo Kim,Yo An Lim
申请号:
US14014457
公开号:
US09561081B2
申请日:
2013.08.30
申请国别(地区):
US
年份:
2017
代理人:
摘要:
A control method of a single-port surgical robot, the single-port surgical robot comprising a slave device including a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device may comprise setting a virtual incision port to an arbitrary position setting an operating position of the end effector calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow and/or calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector.
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