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US 2019/0099228 A1Published application
Medical Manipulator And Method For Controlling A Medical Manipulator
AssigneeKUKA Deutschland GmbH
InventorsHenrik Keller, Tobias Reichl, Oliver Thilmann
Life of this patent
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Abstract
A medical manipulator includes a manipulator arm, an end effector secured to the manipulator arm and having at least one tool with a changing mass and/or mass distribution, and a manipulator controller for controlling the medical manipulator. In each control step, the manipulator controller uses a current load data matrix including the changing mass and/or mass distribution of the tool to prevent deviations from a target position or target path of the tool.
Claims2
Medical manipulator (1), comprising:
- a. a manipulator arm (10);
- b. an end effector (20) mounted on the manipulator arm (10) and comprising at least one tool (21, 22, 23) with a varying mass and/or mass distribution (46);
- c. a manipulator control (30) for the controlling of the medical manipulator (1);
- wherein
- d. the manipulator control (30) uses a current load data matrix (40) with the varying mass and/or mass distribution (46) of the tool (21, 22, 23) in each regulation step in order to prevent deviations from a target posture or target path of the tool (21, 22, 23).
2 more elements
2-14. (canceled)
Dependencies are inferred from the claim text.