Harness, Dickey & Pierce, P.L.C.
Control methods of single-port surgical robots
A control method of a single-port surgical robot, the single-port surgical robot comprising a slave device including a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device may comprise setting a virtual incision port to an arbitrary position; setting an operating position of the end effector; calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector; calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow; and/or calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector.
Samsung Electronics Co., Ltd.
A A
A61B A61B
inventional inventional
Hyung Joo Jun Won Yo An Hyun Do
Kim Jang Lim Choi