公开(公告)号：US11890067B2

公开(公告)日：2024-02-06

申请号：US17155424

申请日：2021-01-22

Applicant: Synaptive Medical Inc.

Inventor： Brent Andrew Bailey ,  Trevor James Dell ,  Bart Verzijlenberg ,  Adam Philip ,  Sean Dowling ,  Robert Lucas

IPC: A61B34/30 ,  B25J9/02 ,  A61B17/29 ,  A61B18/14 ,  B25J13/08 ,  B25J9/16 ,  B25J18/00 ,  A61B34/20 ,  F16M11/06 ,  A61B90/00 ,  A61B34/10 ,  A61B34/00 ,  A61B17/32

CPC classification number: A61B34/30 ,  A61B17/29 ,  A61B18/1442 ,  A61B34/20 ,  B25J9/02 ,  B25J9/1633 ,  B25J13/085 ,  B25J13/088 ,  B25J18/007 ,  A61B17/32 ,  A61B34/10 ,  A61B34/25 ,  A61B90/361 ,  A61B2017/2912 ,  A61B2034/2055 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/374 ,  A61B2090/3735 ,  A61B2090/3762 ,  F16M11/06

Abstract: A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.