Projection operator for inverse kinematics of a surgical robot for low degree of freedom tools

For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	Yu, Haoran, Klingbeil, Ellen, Zhou, Renbin, Yun, Seungkook, Shrivastava, Apoorv
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING COUNTING DIAGNOSIS ELECTRIC DIGITAL DATA PROCESSING HAND TOOLS HUMAN NECESSITIES HYGIENE IDENTIFICATION MANIPULATORS MEDICAL OR VETERINARY SCIENCE PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS SURGERY TRANSPORTING
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Beschreibung
Zusammenfassung:	For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.