Method and system for coordinated multi-tool movement using drivable assemblies

• Main Authors: MITRA PROBAL, HOURTASH ARJANG
• Format: Patent
• Language: Chinese; English
• Published: 14.02.2023
• 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

A robotic system includes a manipulator assembly and a processing system. The manipulator assembly includes a first manipulator, a second manipulator, and a drivable structure. The first manipulator and the second manipulator are mechanically coupled to the drivable structure. The processing system is configured to determine a drivable structure motion for effecting a commanded motion of a first end effector of a first tool mechanically coupled to a first manipulator. Only movement of the drivable structure will cause movement of the first end effector and concurrently movement of a second end effector belonging to a second tool mechanically coupled to a second manipulator. The processing system is further configured to determine movement of the second manipulator and the second tool that will compensate for movement of the second end effector when contemporaneously with the drivable structure movement. 机器人系统包括操纵器组件和处理系统。操纵器组件包括第一操纵器、第二操纵器和可驱动结构。第一操纵器和第二操纵器被机械地联接到可驱动结构。处理系统被配置为确定用于实现被机械地联接到第一操纵器的第一工具的第一末端执行器的