ARTICULATING INCLUDING ANTAGONISTIC CONTROLS FOR ARTICULATION AND CALIBRATION

ARTICULATING INCLUDING ANTAGONISTIC CONTROLS FOR ARTICULATION AND CALIBRATION

A method of homing a drive input of a robotic surgical tool includes recording and storing a home position of the drive input in a memory included in the robotic surgical tool, establishing a slow zone for the drive input encompassing a known angular magnitude away from the home position, storing th...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Barbato, Vincenzo, Kallenberger, Kris Eren, Bertram, Benjamin Lawrence, Overmyer, Mark D
Format: Patent
Sprache:eng
Schlagworte:
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Beschreibung
Zusammenfassung:A method of homing a drive input of a robotic surgical tool includes recording and storing a home position of the drive input in a memory included in the robotic surgical tool, establishing a slow zone for the drive input encompassing a known angular magnitude away from the home position, storing the slow zone in the memory, rotating the drive input toward the home position, and slowing a rotation speed of the drive input upon reaching the slow zone.