Projection operator for inverse kinematics of a surgical robot for low degree of freedom tools
US12076099B2 · kind B2 · utility
3Cited by
9References
20Claims
0Family size
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Key dates
| Filing date | Jul 6, 2021 |
| Grant date | Sep 3, 2024 |
| Priority date | — |
| Expiry date | Dec 4, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45123
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.