- 专利标题: Null space control for end effector joints of a robotic instrument
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申请号: US17063309申请日: 2020-10-05
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公开(公告)号: US12017369B2公开(公告)日: 2024-06-25
- 发明人: Xiaobin Zhang , Dimitri Chatzigeorgiou
- 申请人: Verb Surgical Inc.
- 申请人地址: US CA Santa Clara
- 专利权人: Verb Surgical Inc.
- 当前专利权人: Verb Surgical Inc.
- 当前专利权人地址: US CA Santa Clara
- 代理机构: Lempia Summerfield Katz LLC
- 主分类号: B25J9/16
- IPC分类号: B25J9/16 ; A61B17/072 ; A61B17/29 ; A61B34/00 ; A61B34/35 ; A61B34/37 ; A61B90/00 ; B25J13/06
摘要:
The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example method includes providing a redundant degree of freedom (DoF) for an end effector joint of one DoF by driving the joint with two actuators, calculating a position displacement of the joint to effect a desired end effector movement in response to an input command, calculating a first movement of the two actuators based on the position displacement of the joint and a second movement of the two actuators based on a second control objective in a null space corresponding to the redundant DoF, and driving the joint according to the first movement and the second movement to effect the desired end effector movement while accomplishing the second control objective in the null space.
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