Techniques for operating a kinematic structure by manual motion of link coupled to the kinematic structure
US11974828B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 2, 2022 |
| Grant date | May 7, 2024 |
| Priority date | — |
| Expiry date | Jul 2, 2042 |
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; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.