REPRESENTED BY THE EUROPEAN;THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM)
发明人:
Emilio Ruiz Morales,Carlos Correcher Salvador
申请号：
US15860616
公开号：
US10518419B2
申请日:
2018.01.02
申请国别(地区):
US
年份:
2019
代理人:
摘要：
A method of force estimation for a minimally invasive medical system comprising a robot manipulator. The manipulator has an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and is configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: determining a position of the instrument relative to the fulcrum； measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument； and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.
