Medical robotic device and method for the operation thereof

US10172679B2 · kind B2 · utility

Assignee

• Siemens Healthcare Limited · DE

Inventors

• Philip Mewes · Nürnberg, DE
• Michael Wiets · Langensendelbach, DE

Key dates

• Filing date: Dec 1, 2016
• Grant date: Jan 8, 2019
• Expiry date: Mar 30, 2037

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/066
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A medical-robotic device that has a kinematic chain of movable components with an end effector at one end, with at least one force or torque sensor for the detection of at least one force or torque value on the kinematic chain. A control processor that controls the kinematic chain. An additional mechanical component is attached directly to the end effector or one of the movable components so that the additional component can transmit a force external to the device or a torque external to the device to the end effector or the movable component. The control processor determines the force external to the device or the torque external to the device on the basis of the at least one force or torque value detected, and controls the kinematic chain in dependence on the determined force external to the device or the determined torque external to the device, in order to increase the accuracy of the medical-robotic device.