Process and apparatus for hand-controlled guiding of an instrument in a predetermined movement region
US6236906A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Mar 26, 1999 |
| Grant date | May 22, 2001 |
| Priority date | — |
| Expiry date | Mar 26, 2019 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T403/1616
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A process for guiding an instrument in space, in which the instrument is arranged at the free end of an articulated arm whose arm sections are caused to pivot and/or travel with respect to each other by drive units. The instrument is caused to travel in a limited movement region under the control of a control device. For predetermination of the movement region for points that are situated in the movement region, a respective pivot angle and/or travel position between the respective arm sections is set. The respective position and attitude of the instrument is sensed by at least a first measuring device. For hand-controlled guiding of the instrument, an actuating force exerted on the instrument and/or the articulated arm is sensed by a second measuring device. The arm sections are mutually pivoted and/or moved in dependence on the actuating force, the position of the instrument, and the predetermined movement region, such that the instrument moves within the predetermined movement region substantially in the direction of the actuating force.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.