Controlling roll for a device in a computer-assisted medical system
US10758313B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Oct 4, 2016 |
| Grant date | Sep 1, 2020 |
| Priority date | — |
| Expiry date | Aug 30, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/402
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Roll control is provided for a device by controlling the roll-angle offset about the device roll axis in correspondence to a specified rotation of a reference frame for the device. This specified rotation may correspond to a roll-free rotation of the reference frame to align a corresponding reference roll axis with the device roll axis. In applications to robotics generally, the device may be characterized as a robotic element or a robotically-supported instrument. In specific applications to robotic surgery in a computer-assisted medical system, the device may include a spar or cannula that is configured to support a surgical instrument.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.