Motion scaling tele-operating system with force feedback suitable for microsurgery
US5382885A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Aug 9, 1993 |
| Grant date | Jan 17, 1995 |
| Priority date | — |
| Expiry date | Aug 9, 2013 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45123
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A robot suitable for micro-surgical application is formed by a robot arm having a position adjustable free end on which are mounted with their respective stators in fixed relationship a master and a slave robot. The position and actuation of the moving element of the master (master floater) and the moving element of the slave (slave floater) are used to couple their moment such that the master floater motion and forces are scaled down and followed by the slave and the slave floater motion and forces are scaled up and followed by the master. The sensed environment forces on the slave floater and sensed hand (environment) forces on the master can be used to improve the coordination between the master and the slave.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.