公开(公告)号：US20240355221A1

公开(公告)日：2024-10-24

申请号：US18684105

申请日：2022-08-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Woojin Ahn ,  Joey Chau

IPC: G09B9/00 ,  G06T19/20

CPC classification number: G09B9/00 ,  G06T19/20 ,  G06T2219/2004 ,  G06T2219/2021

Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to identify, from a plurality of linked elements, a first linked element connected by a joint to a second linked element and determine a current relative rotation of the second linked element with respect to the first linked element. The system may also determine if an angle of rotation associated with the current relative rotation is greater than a predetermined elastic limit for the joint. If the angle of rotation is greater than the predetermined elastic limit, a current plastic quaternion that represents a current angular plastic deformation of the joint is determined.