Invention Grant
- Patent Title: System and method for maintaining a tool pose
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Application No.: US15125533Application Date: 2015-03-17
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Publication No.: US10070931B2Publication Date: 2018-09-11
- Inventor: Brandon D. Itkowitz , Nitish Swarup , Paul G. Griffiths , Goran Lynch
- Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
- Applicant Address: US CA Sunnyvale
- Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
- Current Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
- Current Assignee Address: US CA Sunnyvale
- Agency: Haynes and Boone, LLP.
- International Application: PCT/US2015/021089 WO 20150317
- International Announcement: WO2015/142943 WO 20150924
- Main IPC: B25J9/06
- IPC: B25J9/06 ; A61B34/00 ; A61B34/30 ; A61B17/00

Abstract:
A system and method of maintaining a tool pose for a computer-assisted medical device with an articulated arm including one or more first joints and one or more second joints, a tool distal to the first joints and the second joints, and a control unit coupled to the first joints and the second joints. The control unit maintains a pose of the tool during movement of the first joints using the second joints by determining a reference coordinate frame for the tool, determining a reference transform of the tool in the reference coordinate frame prior to the movement of the first joints, determining an actual transform of the tool in the reference coordinate frame while the first joints are being moved, determining differences between the reference transform and the actual transform, and maintaining the pose of the tool by driving the second joints based on the differences.
Public/Granted literature
- US20170181806A1 SYSTEM AND METHOD FOR MAINTAINING A TOOL POSE Public/Granted day:2017-06-29
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