ROBOTIC SURGICAL SYSTEM
Abstract
[0001] The present disclosure relates to a robotic surgical system, comprising: - a robot (1A-1C) holding a surgical tool (3A-3C), the robot comprising a base (10), a flange (12) coupled to the surgical tool and an actuation unit (11) configured to move the flange (12) relative to the base (10); - a robotic carrier arm (2) comprising at least one joint (22A-22G), the carrier arm comprising a flange (23) removably connected to the base (10) of the robot (1A-1C), the carrier arm being configured to maintain position of the robot base (10) in a fixed joint configuration during operation of the robot (1A-1C); - a localization unit configured to determine in real time position of the surgical tool; - a control unit configured to: - determine the position of the surgical tool (3A-3C) based on data received from the localization unit; - carry out a control loop for dynamically compensating elastic deformation of the carrier arm, the control loop comprising, based on a target position of the surgical tool, on a current joint position of the actuation unit, and on the position of the surgical tool, determining at least one command of the actuation unit to achieve the target position.
Inventors 5
- Klaus Radermacher Aachen author as filed: Radermacher, Klaus
- Matías de la Fuente Klein Aachen author as filed: de la Fuente Klein, Matías
- Lukas Theisgen Aachen author as filed: Theisgen, Lukas
- Manuel Vossel Aachen author as filed: Vossel, Manuel
- de la Fuente, Klein Matías
Inventors are linked to an Aachen author when surname and first name match exactly one author.
Applicants
- Medos International Sarl
- Rheinisch-Westfälische Technische Hochschule Aachen RWTH Aachen University
- Medos Int Sarl
Cited papers 2 in the database
Non-patent literature as cited (5)
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