Robotic Medical Apparatus With Collision Detection And Method For Collision Detection

A robotic medical apparatus 10 with collision detection includes a kinematic chain including at least one stand unit 26, at least one articulation device 36,36', at least one positioning device and a positionable end effector 12. The apparatus further includes a calculating and controlling devi...

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Bibliographic Details
Main Authors STEFAN SCHUSTER, STEFAN SATTLER
Format Patent
LanguageChinese
English
Published 13.07.2016
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
DIAGNOSIS
HAND TOOLS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MANIPULATORS
MEDICAL OR VETERINARY SCIENCE
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
SURGERY
TRANSPORTING
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Summary:A robotic medical apparatus 10 with collision detection includes a kinematic chain including at least one stand unit 26, at least one articulation device 36,36', at least one positioning device and a positionable end effector 12. The apparatus further includes a calculating and controlling device to control the at least one positioning device. The robotic medical apparatus includes a measurement system 42 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 calculating and controlling device. The calculating and controlling device 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 and the nominal force and/or the nominal torqu
Bibliography:Application Number: CN201511009691