Title:
METHOD AND SYSTEM FOR REMOTELY CONTROLLING SURGICAL SLAVE ARM
Document Type and Number:
WIPO Patent Application WO/2020/116792
Kind Code:
A1
Abstract:
A method for remotely controlling a surgical slave arm according to one embodiment comprises: a step for receiving a command from an operator via a master arm; a step for calculating target position data of the slave arm on the basis of the received command; a step for calculating joint angles on the basis of the calculated target position data; a step for correcting at least one of the calculated joint angles to be included within a range of motion of the slave arm; a step for determining next joint angles corresponding to a next position and posture of the slave arm on the basis of the corrected joint angles and current joint angles corresponding to a current position and posture of the slave arm; and a step for controlling the slave arm to move according to the determined next joint angles.
Inventors:
CHOI JONG DO (KR)
Application Number:
PCT/KR2019/014696
Publication Date:
June 11, 2020
Filing Date:
November 01, 2019
Export Citation:
Assignee:
MEERE CO INC (KR)
International Classes:
A61B34/35; A61B17/00; A61B34/00; A61B34/37; B25J9/16
Foreign References:
| KR20160132896A | 2016-11-21 | |||
| KR20150033473A | 2015-04-01 | |||
| JP2015024036A | 2015-02-05 | |||
| US20180271607A1 | 2018-09-27 | |||
| US20100174410A1 | 2010-07-08 |
Attorney, Agent or Firm:
Y.P.LEE, MOCK & PARTNERS (KR)
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