SYSTEMS AND METHODS FOR KINEMATIC OPTIMIZATION WITH SHARED ROBOTIC DEGREES-OF-FREEDOM
Systems and methods for kinematic optimization with shared robotic degrees-of-freedom are provided. In one aspect, a robotic medical system includes a base, an adjustable arm support coupled to the base, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm...
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| creator | Huang, Yanan Dan, Yoichiro Mintz, David Stephen Wehrmann, Sven Kelly, Sean Patrick Eyre, Nicholas J Covington, Travis C |
| description | Systems and methods for kinematic optimization with shared robotic degrees-of-freedom are provided. In one aspect, a robotic medical system includes a base, an adjustable arm support coupled to the base, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm is further configured to be coupled to a medical tool that is configured to be delivered through an incision or natural orifice of a patient. The system further includes a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the tool. |
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| subjects | 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 |
| title | SYSTEMS AND METHODS FOR KINEMATIC OPTIMIZATION WITH SHARED ROBOTIC DEGREES-OF-FREEDOM |
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