Method for assessing the positioning accuracy of a medical robot arm
AssigneeBrainlab AG
InventorsRainer Birkenbach, Richard Wohlgemuth
Life of this patent
Estimating the term…
Abstract
A method for assessing the positioning accuracy of a medical robot arm comprising at least one joint, wherein the rigidity of the robot arm in a joint placement is calculated and assessed on the basis of a rigidity model.
Claims22
A method for assessing the positioning accuracy of a medical robot arm that includes at least one joint and a computational unit operatively coupled to the at least one joint, the computational unit configured to access a rigidity model corresponding to the robot arm, the method comprising:
- using the computational unit to calculate and assess a rigidity of the robot arm, said rigidity calculated based on the rigidity model;
- calculating a working space which can be traveled by the robot arm based on the calculated rigidity and a predetermined minimum rigidity;
- and
- determining if the calculated working space includes a space necessary to perform a specific task.
A method for controlling a position of a medical robot arm that includes at least one joint and a computational unit operatively coupled to the at least one joint, the computational unit configured to access a rigidity model corresponding to the robot arm, the method comprising:
- using the computational unit to calculate a rigidity of the robot arm based on the rigidity model, said calculation performed for a position of the at least one joint that achieves a target position of the robot arm;
- comparing the calculated rigidity of the robot arm to a predetermined minimum rigidity value;
- and
- the computational unit commanding the at least one joint to the position when the calculated rigidity is greater than the minimum rigidity value.
A method for assessing the positioning accuracy of a medical robot arm that includes at least one joint and a computational unit operatively coupled to the at least one joint, comprising:
- using the computational unit to calculate a rigidity of the robot arm over a plurality of different positions of the at least one joint based on a rigidity model corresponding to the medical robot arm;
- using the calculated rigidity of the medical robot arm to determine positions of the at least one joint that maintain a predetermined minimum rigidity of the medical robot arm.
Dependencies are inferred from the claim text.