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System and method for breakaway clutching in an articulated arm

  • US 10,034,717 B2
  • Filed: 03/17/2015
  • Issued: 07/31/2018
  • Est. Priority Date: 03/17/2014
  • Status: Active Grant
First Claim
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1. A computer-assisted medical device, the device comprising:

  • an articulated arm comprising a first joint; and

    a control unit coupled to the articulated arm and comprising one or more processors;

    wherein the control unit;

    operates the first joint in a locked state, in which movement is restricted, and a float state, in which movement is permitted;

    switches the first joint from the locked state to the float state when a stimulus on the first joint exceeds a first unlock threshold;

    switches the first joint from the float state to the locked state when a velocity of the first joint is below a first lock threshold; and

    on the condition that the first joint is in the float state, commands the first joint to move to a commanded position based on a current actual position of the first joint, or to a commanded velocity based on a current actual velocity of the first joint.

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