公开(公告)号：US20210137616A1

公开(公告)日：2021-05-13

申请号：US17155424

申请日：2021-01-22

申请人： Synaptive Medical Inc.

发明人： Brent Andrew BAILEY ,  Trevor James DELL ,  Bart VERZIJLENBERG ,  Adam PHILIP ,  Sean DOWLING ,  Robert LUCAS

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.

公开(公告)号：US20200030991A1

公开(公告)日：2020-01-30

申请号：US16115025

申请日：2018-08-28

申请人： SYNAPTIVE MEDICAL INC.

发明人： Brent Andrew BAILEY ,  Trevor James DELL ,  Bart VERZIJLENBERG ,  Adam PHILIP ,  Sean DOWLING

IPC分类号： B25J13/08 ,  A61B34/32 ,  A61B34/00 ,  A61B34/20 ,  A61B1/00 ,  B25J9/02 ,  B25J9/16 ,  B25J9/06

摘要： An automated positioning system and methods of controlling the same. The positioning system includes a multi-joint positioning arm, an end effector coupled to a distal end of the positioning arm, a force-moment sensor (FMS) coupled to the end effector and a controller coupled to communicate with the positioning arm and the FMS. Using signals from the FMS, at least one external force or torque applied to the end effector is determined. A drive velocity for moving the end effector is determined, based on the at least one external force or torque. One or more joint movements of the positioning arm for moving the end effector is calculated, according to the drive velocity. The positioning arm is moved according to the one or more calculated joint movements.