Brandon D. ITKOWITZ,Nitish SWARUP,Paul G. GRIFFITHS,Goran Lynch
申请号：
US16101328
公开号：
US20180344417A1
申请日:
2018.08.10
申请国别(地区):
US
年份:
2018
代理人:
摘要：
A system and method of maintaining a tool position and orientation for a computer-assisted medical device include a device with an articulated structure including a plurality of joints and a control unit. The articulated structure is configured to support a tool distal to the joints. The control unit is configured to determine an initial position and orientation of the tool prior to movement of a first joint, determine, while the first joint is moving, a current position and orientation of the tool, determine a difference between the current and the initial position and orientation, and drive at least a second joint based on the difference to maintain a position and orientation of the tool at the initial position and orientation. In some embodiments, the position and orientation of the tool are maintained relative to a reference coordinate frame based on a cause of the moving of the first joint.
