- 专利标题： Method of force estimation for a minimally invasive medical system and corresponding system
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申请号： US16730903申请日： 2019-12-30
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公开(公告)号： US11413768B2公开(公告)日： 2022-08-16
- 发明人: Emilio Ruiz Morales , Carlos Correcher Salvador
- 申请人： THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSION
- 申请人地址： BE Brussels
- 专利权人： THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSION
- 当前专利权人： THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSION
- 当前专利权人地址： BE Brussels
- 代理机构： Cantor Colburn LLP
- 优先权： EP06122937 20061025
- 主分类号： B25J13/08
- IPC分类号： B25J13/08 ; A61B34/00 ; A61B34/30 ; A61B34/35 ; A61B90/00 ; A61B34/10
摘要：
A minimally invasive medical system including a robot manipulator, having an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, usually to degrees-of-freedom.
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