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SYSTEMS AND METHODS TO OPTIMIZE REACHABILITY, WORKSPACE, AND DEXTERITY IN MINIMALLY INVASIVE SURGERY
SYSTEMS AND METHODS TO OPTIMIZE REACHABILITY, WORKSPACE, AND DEXTERITY IN MINIMALLY INVASIVE SURGERY
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机译:在微创手术中优化可达性,工作区和灵巧的系统和方法
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摘要
Systems, methods, and computer program products for quantification of error in tool orientation of a surgical robotic are disclosed. A first robotic arm is provided where the robotic arm includes a surgical instrument and a tool disposed at the distal end of the surgical instrument. A first orientation of the tool is determined including a first x-component, a first y-component, and a first z-component. A desired orientation of the tool is determined including a second x-component, a second y-component, and a second z-component. A first angle between the first x-component and the second x-component is determined, a second angle between the first y-component and the second y-component is determined, and a third angle between the first z-component and the second z-component is determined. An error metric based on the first angle, the second angle, and the third angle is determined.
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