Patent · US Active

Control of medical robotic system manipulator about kinematic singularities

US8768516B2 · kind B2 · utility

107Cited by
40References
6Claims
0Family size

Assignee

Inventors

Key dates

Filing dateJun 30, 2009
Grant dateJul 1, 2014
Priority date—
Expiry dateDec 15, 2031

Classification

  • Technology area (CPC G)Physics
  • CPC primaryG16H50/50
  • WIPO fieldMedical technology
  • WIPO sectorInstruments

Abstract

A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide relative to a remote center, and a controller configured to manage operation of the entry guide manipulator in response to operator manipulation of one or more input devices. As the entry guide manipulator approaches a yaw/roll singularity, the controller modifies its operation to allow continued movement of the entry guide manipulator without commanding excessive joint velocities while maintaining proper orientation of the entry guide.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.