Title:
SYSTEM AND METHOD FOR BREAKAWAY CLUTCHING OPERATION IN MULTI-ARTICULATED ARM
Document Type and Number:
Japanese Patent JP2023054115
Kind Code:
A
Abstract:
To provide a computer-assisted medical device.SOLUTION: A computer-assisted medical device includes a multi-articulated arm having one or more first joints, and a control unit coupled to the multi-articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, where movements of respective first joints are restricted, and a float state, where movements of the respective first joints are permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds, and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.SELECTED DRAWING: Figure 1
Inventors:
Mirror, daniel
Swarp up, Nitish
Turner, Michael
Ourtash, Arjan M
Griffith, Paul Gee
Moor, Paul W
Swarp up, Nitish
Turner, Michael
Ourtash, Arjan M
Griffith, Paul Gee
Moor, Paul W
Application Number:
JP2023023469A
Publication Date:
April 13, 2023
Filing Date:
February 17, 2023
Export Citation:
Assignee:
Intuitive Surgical Operations, Incorporated
International Classes:
A61B34/35; B25J17/00
Attorney, Agent or Firm:
Tadashige Ito
Tadahiko Ito
Osamu Miyazaki
Tadahiko Ito
Osamu Miyazaki