- 专利标题: POSITIONING ARM FOR A SURGICAL NAVIGATION SYSTEM
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申请号: US17155424申请日: 2021-01-22
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公开(公告)号: US20210137616A1公开(公告)日: 2021-05-13
- 发明人: Brent Andrew BAILEY , Trevor James DELL , Bart VERZIJLENBERG , Adam PHILIP , Sean DOWLING , Robert LUCAS
- 申请人: Synaptive Medical Inc.
- 申请人地址: CA Toronto
- 专利权人: Synaptive Medical Inc.
- 当前专利权人: Synaptive Medical Inc.
- 当前专利权人地址: CA Toronto
- 优先权: CA2977489 20170828
- 主分类号: A61B34/30
- IPC分类号: A61B34/30 ; B25J9/02 ; A61B17/29 ; A61B18/14 ; B25J13/08 ; B25J9/16 ; B25J18/00 ; A61B34/20
摘要:
A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.