Techniques for operating a kinematic structure by manual motion of link coupled to the kinematic structure
US11298200B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 7, 2020 |
| Grant date | Apr 12, 2022 |
| Priority date | — |
| Expiry date | Jun 30, 2040 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/02
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.