Patent ID: 6497672
Filing Date: 2002-12-24
Classification: A61B,B25J,G06F

Abstract:
A method for measuring the relative placement of two animate links separated by at least one animate joint, said method comprising:providing a device kinematic chain having: two terminal device links, each adapted to engage a respective one of the animate links; a third device link between said two terminal device links; and at least three device joints joined by said terminal device links and said third device link, with at least one of said device joints being displaced away from the animate links in use, at least two of said device joints being sensing joints on opposing ends of said third device link, wherein the number of said sensing joints is at least sufficient to determine the relative placement of the two animate links; measuring the angle of each of said sensing joints; transmitting the angle measurement for each of said sensing joints as an electrical signal to a signal processor; and determining the relative placement of the two animate links from said electrical signals.