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TELE-OPERATIVE SURGICAL SYSTEMS AND METHODS OF CONTROL AT JOINT LIMITS USING INVERSE KINEMATICS
TELE-OPERATIVE SURGICAL SYSTEMS AND METHODS OF CONTROL AT JOINT LIMITS USING INVERSE KINEMATICS
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机译:基于反向运动学的远方手术外科手术系统和联合极限控制方法
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摘要
Devices, systems, and methods for controlling manipulator movements include a manipulator arm coupled to a proximal base. The manipulator arm is configured to support an end effector and robotically move the end effector relative to the proximal base. The manipulator arm includes a plurality of joints between the end effector and the proximal base and a processor. The processor is configured to calculate joint movements of the plurality of joints that provide a desired position of the end effector using inverse kinematics of the manipulator arm and when a first set of one or more joints of the plurality of joints is at corresponding joint range of motion limits: determine a constraint based on a relationship between joint movement of the first set and a second set of one or more joints of the plurality of joints and apply the constraint within the inverse kinematics to provide haptic feedback.
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