OpenTechnical
This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-6236906-B1, on 22 May 2001. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000003109

Process and apparatus for hand-controlled guiding of an instrument in a predetermined movement region

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
MUELLER GERHARD
Assignee
ZEISS STIFTUNG
Original source
US-6236906-B1, the United States Patent and Trademark Office, 22 May 2001
Document SHA-256
9631a6753ff95afa3b5d1007d85b85b14e4a9d13e86f69305b453c4b495e34f7

A process for guiding an instrument in space, in which the instrument is arranged at the free end of an articulated arm whose arm sections are caused to pivot and/or travel with respect to each other by drive units. The instrument is caused to travel in a limited movement region under the control of a control device. For predetermination of the movement region for points that are situated in the movement region, a respective pivot angle and/or travel position between the respective arm sections is set. The respective position and attitude of the instrument is sensed by at least a first measuring device. For hand-controlled guiding of the instrument, an actuating force exerted on the instrument and/or the articulated arm is sensed by a second measuring device. The arm sections are mutually pivoted and/or moved in dependence on the actuating force, the position of the instrument, and the predetermined movement region, such that the instrument moves within the predetermined movement region substantially in the direction of the actuating force.

Sheet 1
Sheet 1
Sheet 2
Sheet 2

Abstract

A process for guiding an instrument in space, in which the instrument is arranged at the free end of an articulated arm whose arm sections are caused to pivot and/or travel with respect to each other by drive units. The instrument is caused to travel in a limited movement region under the control of a control device. For predetermination of the movement region for points that are situated in the movement region, a respective pivot angle and/or travel position between the respective arm sections is set. The respective position and attitude of the instrument is sensed by at least a first measuring device. For hand-controlled guiding of the instrument, an actuating force exerted on the instrument and/or the articulated arm is sensed by a second measuring device. The arm sections are mutually pivoted and/or moved in dependence on the actuating force, the position of the instrument, and the predetermined movement region, such that the instrument moves within the predetermined movement region substantially in the direction of the actuating force.

1. Drawings

[0001]Sheet 1.

[0002]Sheet 2.

Publication information

Plain textMarkdownManifestIntegrity record

Citation

OpenTechnical Publication OT-2026-000003109, “Process and apparatus for hand-controlled guiding of an instrument in a predetermined movement region,” published September 15, 2026 at 19:30:57 UTC, https://opentechnical.org/p/OT-2026-000003109.

To cite specific content, add the paragraph or figure numbers.

Terms

This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.