Paul G. GRIFFITHS,Arjang M. HOURTASH,Paul W. MOHR,David W. ROBINSON,Nitish SWARUP,John W. ZABINSKI,Mark W. ZIMMER
申请号：
US14808639
公开号：
US20160022360A1
申请日:
2015.07.24
申请国别(地区):
US
年份:
2016
代理人:
摘要：
A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.
