Medical support arm system, medical support arm control method, and medical support arm control device
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United States of America Patent
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Apr 9, 2024
Grant Date -
Jul 7, 2022
app pub date -
Mar 16, 2022
filing date -
May 31, 2017
priority date (Note) -
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Abstract
Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit. The medical support arm system further includes a control device including an external force estimation unit to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.
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