Limited movement of a surgical mounting platform controlled by manual motion of robotic arms
US11723733B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 14, 2021 |
| Grant date | Aug 15, 2023 |
| Priority date | — |
| Expiry date | Sep 5, 2041 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2050/105
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.