Motion scaling tele-operating system with force feedback suitable for microsurgery
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United States of America Patent
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Jan 17, 1995
Grant Date -
N/A
app pub date -
Aug 9, 1993
filing date -
Aug 9, 1993
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A robot suitable for micro-surgical application is formed by a robot arm having a position adjustable free end on which are mounted with their respective stators in fixed relationship a master and a slave robot. The position and actuation of the moving element of the master (master floater) and the moving element of the slave (slave floater) are used to couple their moment such that the master floater motion and forces are scaled down and followed by the slave and the slave floater motion and forces are scaled up and followed by the master. The sensed environment forces on the slave floater and sensed hand (environment) forces on the master can be used to improve the coordination between the master and the slave.
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Cited Art Landscape
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