David Gene Bowling,John Michael Stuart,Jerry A. Culp,Donald W. Malackowski,Jose Luis Moctezuma de la Barrera,Patrick Roessler,Joel N. Beer
申请号：
US15266691
公开号：
US20170000577A1
申请日:
2016.09.15
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A manipulator is provided that supports a surgical tool used in a surgical procedure. The manipulator includes a plurality of links and joints and a controller that evaluates an actual joint angle of each joint relative to one or more joint boundary angles for each joint. The controller computes forces and torques to apply to a virtual rigid body based on the evaluation. The controller then determines a commanded joint angle for each joint based on the computed forces and torques so that actuators move the surgical tool to a commanded pose associated with the commanded joint angles.
