首页>
外国专利>
Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
展开▼
机译:在输入装置中的应用促使其运营商命令铰接仪器的优选姿势
展开▼
页面导航
摘要
著录项
相似文献
摘要
A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation an articulated instrument in response to operator manipulation of an associated input device while generating a force command to the input device that nudges the operator to command the instrument to a preferred pose. When a transition is to occur between first and second preferred poses, one is phased in while the other is phased out. Virtual barriers may be imposed to prevent the articulated instrument from being commanded to an undesirable pose.
展开▼