Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2006-04-25
2006-04-25
Black, Thomas G. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S260000, C318S568100, C600S102000, C606S130000
Reexamination Certificate
active
07035716
ABSTRACT:
An active-constraint robot (4), particularly for surgical use, is controlled by means of a series of motorized joints to provide a surgeon with real-time tactile feedback of an operation in progress. The robot system holds, in memory, a series of constraint surfaces beyond which it would be dangerous for the surgeon to go, and a resistive force is applied to the cutting tool (14) as the surgeon approaches any such surface. To improve the overall quality of feedback experienced by the surgeon, the resistive force applied to the cutting tool (14) depends upon the point of intersection (I) between the force factor applied by the surgeon and the surface. Further improvements are achieved by adjusting the tangential resistive force, when the tool is adjacent to the surface, in dependence upon the surrounding shape of the surface.
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Davies Brian Lawrence
Harris Simon James
Jakopec Matjaz
Black Thomas G.
Marc McDieunel
The Acrobot Company Limited
Wallenstein Wagner & Rockey Ltd.
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