System and method for maintaining a tool position and orientation
US10575910B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 10, 2018 |
| Grant date | Mar 3, 2020 |
| Priority date | — |
| Expiry date | Aug 11, 2038 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/305
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A system and method of maintaining a tool position and orientation for a computer-assisted medical device include a device with an articulated structure including a plurality of joints and a control unit. The articulated structure is configured to support a tool distal to the joints. The control unit is configured to determine an initial position and orientation of the tool prior to movement of a first joint, determine, while the first joint is moving, a current position and orientation of the tool, determine a difference between the current and the initial position and orientation, and drive at least a second joint based on the difference to maintain a position and orientation of the tool at the initial position and orientation. In some embodiments, the position and orientation of the tool are maintained relative to a reference coordinate frame based on a cause of the moving of the first joint.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.