Method of constrained Cartesian control of robotic mechanisms wi

Details Method of constrained Cartesian control of robotic mechanisms wi Method of constrained Cartesian control of robotic mechanisms wi

1997-07-17

1999-03-23

MacDonald, Allen R.

Surgery

Diagnostic testing

Sensitivity to impact

600204, G05B 1500

Patent

active

058871217

ABSTRACT:
The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or the nature of the task. The method is capable of controlling mechanisms with multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism. In a preferred embodiment the novel method is used to control a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice.

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