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1. (WO2017062372) ROLL CONTROL BASED ON PITCH AND YAW INPUTS FOR A DEVICE IN A COMPUTER-ASSISTED MEDICAL SYSTEM

Pub. No.:    WO/2017/062372    International Application No.:    PCT/US2016/055359
Publication Date: Fri Apr 14 01:59:59 CEST 2017 International Filing Date: Wed Oct 05 01:59:59 CEST 2016
IPC: A61B 34/30
A61B 17/00
A61B 34/35
Applicants: INTUITIVE SURGICAL OPERATIONS, INC.
Inventors: BERNSTEIN, Nicholas
Title: ROLL CONTROL BASED ON PITCH AND YAW INPUTS FOR A DEVICE IN A COMPUTER-ASSISTED MEDICAL SYSTEM
Abstract:
Roll control is provided for a device by controlling the roll-angle offset about the device roll axis in correspondence to a specified rotation of a reference frame for the device. This specified rotation may correspond to a roll-free rotation of the reference frame to align a corresponding reference roll axis with the device roll axis. In applications to robotics generally, the device may be characterized as a robotic element or a robotically-supported instrument. In specific applications to robotic surgery in a computer-assisted medical system, the device may include a spar or cannula that is configured to support a surgical instrument.