Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
US11026758B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 18, 2018 |
| Grant date | Jun 8, 2021 |
| Priority date | — |
| Expiry date | Apr 30, 2039 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/571
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.