Passive and active arm control scheme with sensor integration to support remote operation and direct manual interaction

Certain aspects relate to admittance control modes for robotic surgical systems. The admittance control mode may be based on detecting and/or measuring forces (rotating and/or non-rotating) on the robotic arm, and moving the robotic arm in response to such interactions. The forces may include direct...

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Bibliographic Details
Main Authors HUANG YANAN, WILSON JASON T, LANG MATTHEW A, EYRE NICHOLAS J, MAO YING, SABEDIAN PAUL
Format Patent
LanguageChinese
English
Published 13.01.2023
Subjects
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Summary:Certain aspects relate to admittance control modes for robotic surgical systems. The admittance control mode may be based on detecting and/or measuring forces (rotating and/or non-rotating) on the robotic arm, and moving the robotic arm in response to such interactions. The forces may include direct manual interaction of the clinician with the robotic arm. Movement of the robotic arm may be located within a null-space that maintains the position of the medical instrument. 某些方面涉及用于机器人外科系统的导纳控制模式。该导纳控制模式可基于检测和/或测量机器人臂上的力(旋转和/或非旋转的)，以及响应于此类相互作用而使机器人臂运动。力可包括临床医生与机器人臂的直接手动相互作用。机器人臂的运动可位于保持医疗器械的位置的零空间内。
Bibliography:Application Number: CN202180025843