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    SYSTEMS AND METHODS FOR CANCELLATION OF JOINT MOTION USING THE NULL-SPACE
    2.
    发明公开
    SYSTEMS AND METHODS FOR CANCELLATION OF JOINT MOTION USING THE NULL-SPACE 审中-公开
    系统和方法联合运动中的利用面积为零的减少

    公开(公告)号：EP2884937A4

    公开(公告)日：2016-04-13

    申请号：EP13829979

    申请日：2013-08-15

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： HOURTASH ARJANG ,  HINGWE PUSHKAR

    IPC分类号： B25J18/02 ,  A61B34/32 ,  A61B34/37 ,  B25J9/16 ,  B25J13/06

    CPC分类号： A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B2034/306 ,  B25J9/1607 ,  B25J9/1643 ,  G05B2219/40362 ,  G05B2219/40365 ,  G05B2219/40367

    摘要： Devices, systems, and methods are disclosed for cancelling movement one or more joints of a tele-surgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may overlay the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.