Invention Grant
- Patent Title: Phantom degrees of freedom for manipulating the movement of mechanical bodies
- Patent Title (中): 用于操纵机械体运动的幻影自由度
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Application No.: US13966406Application Date: 2013-08-14
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Publication No.: US09272416B2Publication Date: 2016-03-01
- Inventor: Arjang M. Hourtash , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Amy E. Kerdok , Michael Turner
- Applicant: Intuitive Surgical Operations, Inc.
- Applicant Address: US CA Sunnyvale
- Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
- Current Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
- Current Assignee Address: US CA Sunnyvale
- Main IPC: B25J13/00
- IPC: B25J13/00 ; B25J9/16
Abstract:
Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
Public/Granted literature
- US20140052298A1 PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES Public/Granted day:2014-02-20
Information query
