System and method for breakaway clutching in an articulated arm
US10449008B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 21, 2018 |
| Grant date | Oct 22, 2019 |
| Priority date | — |
| Expiry date | Jun 21, 2038 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/035
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.