Robotic medical apparatus with collision detection and method for collision detection in a robotic medical apparatus

US9943962B2 · kind B2 · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Stefan Sattler · Bornheim, DE
• Stefan Schuster · Austin, US

Key dates

• Filing date: Jan 3, 2016
• Grant date: Apr 17, 2018
• Expiry date: May 13, 2036

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/09
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robotic medical apparatus includes a kinematic chain including a stand unit, an articulation device, a positioning device, and a positionable end effector. The apparatus further includes a controller to control the positioning device. The robotic medical apparatus includes a measurement system to determine a force and/or a torque. The force and/or the torque is essentially acting at one point in the kinematic chain. A measurement signal from the measurement system is transmittable to the controller. The controller is configured to determine the force and/or torque that is acting, and as a function of a current position and/or of a current kinematic state, to determine a nominal force and/or a nominal torque. As a function of the difference between the force that is acting and/or the torque that is acting that has been determined and the nominal force and/or the nominal torque that has been determined, a collision is detected.