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ROBOTICALLY CONTROLLING REMOTE CENTER OF MOTION WITH SOFTWARE AND GUIDE TUBE
ROBOTICALLY CONTROLLING REMOTE CENTER OF MOTION WITH SOFTWARE AND GUIDE TUBE
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机译:具有软件和引导管的机器人控制远程运动中心
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摘要
A robotic surgical system includes a surgical robot and a guide tube. The surgical robot includes a robot arm and a controller. The controller is configured to establish a software-based remote center of motion of a surgical instrument attached to the robot arm based on a location of a surgical portal in a patient through which the surgical instrument is inserted. The guide tube having a trailing end supported by the robot arm of the surgical robot, a leading end inserted in the surgical portal and maintaining alignment between the robotic arm and the surgical portal during a surgical instrument exchange, and an elongated tubular body through which an elongated shaft of the surgical instrument is inserted or removed during the surgical instrument exchange.
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