System and method for instrument disturbance compensation
US10272569B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 27, 2015 |
| Grant date | Apr 30, 2019 |
| Priority date | — |
| Expiry date | Mar 14, 2036 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/02
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
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 second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.