Systems and methods for instrument interference compensation
CN115444567BActive Publication Date: 2026-08-28INTUITIVE SURGICAL OPERATIONS INC
Patent Information
- Application Number
- CN202211061168.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Priority Date
- 2015-03-17
- Filing Date
- 2015-10-27
- Publication Date
- 2026-08-28
- Estimated Expiration
- 2035-10-27
AI Technical Summary
Technical Problem
当释放该锁和/或制动器时，这样可能导致该铰接臂(更重要的是定位在该患者体内的器械和/或末端执行器的尖端)的位置和/或取向的不期望的移动
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Figure CN115444567B_ABST
Abstract
The present invention relates to systems and methods for instrument interference compensation, and discloses a computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and the second joint set. The control unit determines an interference to the first joint set caused by a release of one or more brakes and compensates for the interference using the second joint set to reduce motion of a position of a point of interest. In some embodiments, the control unit compensates for the interference by determining an initial position of the point of interest relative to a reference point, determining a predicted motion of the point of interest based on the interference to the first joint set, and sending drive commands to the second joint set to move the point of interest in an opposite direction of the predicted motion.
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Citation Information
Patent Citations
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