COLLISION AVOIDANCE IN SURGICAL ROBOTICS BASED ON DETECTION OF CONTACT INFORMATION

COLLISION AVOIDANCE IN SURGICAL ROBOTICS BASED ON DETECTION OF CONTACT INFORMATION

Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain. The medical robotic system can be c...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: MAO, Ying, TAHERI, Hossein, HUANG, Yanan, KIANMAJD, Babak, YANG, Bo
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
DIAGNOSIS
HAND TOOLS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MANIPULATORS
MEDICAL OR VETERINARY SCIENCE
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
SURGERY
TRANSPORTING
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Beschreibung
Zusammenfassung:Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors.