Title:
SYSTEM AND METHOD FOR INSTRUMENT DISTURBANCE COMPENSATION
Document Type and Number:
Japanese Patent JP2023025015
Kind Code:
A
Abstract:
To provide a computer-assisted device for articulated arms capable of reducing external disturbances of an instrument pose.SOLUTION: The device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a change in a position of a point of interest of the articulated arm in response to a release of one or more brakes of the plurality of joints, and maintain the position of the point of interest by compensating for the change in the position of the point of interest using one or more joints in the plurality of joints, where the position of the point of interest corresponds to a point on an instrument attached to a distal end of the articulated arm, a point on an end effector positioned at a distal end of the instrument, or a remote center of motion of the instrument.SELECTED DRAWING: Figure 5
Inventors:
Swallow, Nitysh
Griffith, Paul Gee
Lynch, Golan
Mirror, daniel
Griffith, Paul Gee
Lynch, Golan
Mirror, daniel
Application Number:
JP2022179250A
Publication Date:
February 21, 2023
Filing Date:
November 09, 2022
Export Citation:
Assignee:
Intuitive Surgical Operations, Incorporated
International Classes:
A61B34/35; B25J3/00
Attorney, Agent or Firm:
Tadashige Ito
Tadahiko Ito
Osamu Miyazaki
Tadahiko Ito
Osamu Miyazaki