Medical robotic device and method for the operation thereof
P Mewes, M Wiets - US Patent 10,172,679, 2019 - Google Patents
(57) ABSTRACT A medical-robotic device that has a kinematic chain of movable
components with an end effector at one end, with at least one force or torque sensor for the
detection of at least one force or torque value on the kinematic chain. A control processor
that controls the kinematic chain. An additional mechanical component is attached directly to
the end effec tor or one of the movable components so that the additional component can
transmit a force external to the device or a torque external to the device to the end effector or …
components with an end effector at one end, with at least one force or torque sensor for the
detection of at least one force or torque value on the kinematic chain. A control processor
that controls the kinematic chain. An additional mechanical component is attached directly to
the end effec tor or one of the movable components so that the additional component can
transmit a force external to the device or a torque external to the device to the end effector or …
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