首页>
外国专利>
WORKSPACE OPTIMIZATION FOR ROBOTIC SURGERY
WORKSPACE OPTIMIZATION FOR ROBOTIC SURGERY
展开▼
机译:机器人手术的工作区优化
展开▼
页面导航
摘要
著录项
相似文献
摘要
Certain aspects relate to systems and techniques for optimizing the configuration of a robotic system by moving the links of the system in a null space to minimize a cost function. The null space being defined by the desired set of end effector pose. The cost function may be evaluated by computing the distance of the links from various avoidance zones. The avoidance zones are associated with collisions and joint limit conditions. The systems and techniques may specifically relate to a system wherein the optimization includes movement of an arm support. The system may be employed pre-operatively or intraoperatively to minimize collisions and joint limit event during the course of a procedure. The system may be used at intervals. The system may be used each time the end effectors are commanded into a new pose.
展开▼