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AssigneeStryker Corporation
InventorsDavid Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, Jose Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
Estimating the term…
A manipulator is provided that supports a surgical tool used in a surgical procedure. The manipulator includes a plurality of links and joints and a controller that evaluates an actual joint angle of each joint relative to one or more joint boundary angles for each joint. The controller computes forces and torques to apply to a virtual rigid body based on the evaluation. The controller then determines a commanded joint angle for each joint based on the computed forces and torques so that actuators move the surgical tool to a commanded pose associated with the commanded joint angles.
A manipulator for supporting a surgical tool, the manipulator comprising:
A method for controlling a manipulator supporting a surgical tool, wherein the manipulator includes a plurality of links and joints, a plurality of actuators with each actuator arranged to move one or more of the links, and a plurality of sensors with each sensor arranged to measure an actual joint angle for one of the joints, said method comprising the steps of:
Dependencies are inferred from the claim text.