Patent ID: 11926062
Assignee: THE BRIGHAM AND WOMEN'S HOSPITAL
Field: Medical technology (Instruments)
Classification: CPC B  A  G | IPC A  B

Claim 0:
1. A robotic apparatus comprising:
continuum robot including at least one bending section having a proximal end, a distal end, and a centroid along a longitudinal direction of the continuum robot;
an actuator configured to manipulate the at least one bending section;
a controller configured to issue control command to the actuator;
a control input device in communication with the controller, and configured to accept control input for bending of the distal end from an operator,
wherein the distal end has an end-effector coordinate that has an origin at the center of the distal end and two axes perpendicular to a centroid of the continuum robot and one axis parallel to the centroid,
wherein the proximal end has a robot base coordinate that has an origin at the center of the proximal end and two-two axes perpendicular to a centroid of the continuum robot and one axis parallel to the centroid, and
wherein the controller is configured to:
store a current distal orientation vector based on the robot base coordinate,
read the control input from the control input device by a time interval,
determine a bending input vector from the reading of the control input based on the end-effector coordinate, and
issue the control command based on the current distal orientation vector, and the bending input vector by the time interval.