Surgical robotic arm admittance control
US10434660B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 18, 2018 |
| Grant date | Oct 8, 2019 |
| Priority date | — |
| Expiry date | Jun 18, 2038 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61G13/04
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.