Title:
ACTIVE-CONSTRAINT ROBOTS
Document Type and Number:
WIPO Patent Application WO2002060653
Kind Code:
A9
Abstract:
An active-constraint robot (4), particularly for surgical use, is controlled by means of a series of motorised joints to provide a surgeon with real-time tactile feedback of an operation in progress. The robot system holds, in memory, a series of constraint surfaces beyond which it would be dangerous for the surgeon to go, and a resistive force is applied to the cutting tool (14) as the surgeon approaches any such surface. To improve the overall quality of feedback experienced by the surgeon, the resistive force applied to the cutting tool (14) depends upon the point of intersection (1) between the force factor applied by the surgeon and the surface. Further improvements are achieved by adjusting the tangential resistive force, when the tool is adjacent to the surface, in dependence upon the surrounding shape of the surface.
Inventors:
HARRIS SIMON JAMES (GB)
DAVIES BRIAN LAWRENCE (GB)
JAKOPEC MATJAZ (GB)
DAVIES BRIAN LAWRENCE (GB)
JAKOPEC MATJAZ (GB)
Application Number:
PCT/GB2002/000365
Publication Date:
December 19, 2002
Filing Date:
January 29, 2002
Export Citation:
Assignee:
ACROBOT COMPANY LTD (GB)
HARRIS SIMON JAMES (GB)
DAVIES BRIAN LAWRENCE (GB)
JAKOPEC MATJAZ (GB)
HARRIS SIMON JAMES (GB)
DAVIES BRIAN LAWRENCE (GB)
JAKOPEC MATJAZ (GB)
International Classes:
A61B19/00; B25J9/16; B25J9/18; (IPC1-7): B25J/
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