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Surgical robotic system and control of surgical robotic system

  • US 10,350,014 B2
  • Filed: 08/24/2015
  • Issued: 07/16/2019
  • Est. Priority Date: 08/26/2014
  • Status: Active Grant
First Claim
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1. A surgical robotic system for use in a surgical procedure, comprising:

  • a surgical arm including a movable arm part, the movable arm part including an instrument connector for mounting of a surgical instrument, the surgical instrument having a longitudinal axis, the movable arm part having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument along the longitudinal axis of the surgical instrument towards a surgical target;

    a human machine interface for receiving, using a first input modality or input mode of the human machine interface, positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument;

    an actuator configured and arranged for actuating the movable arm part to effect the longitudinal movement of the surgical instrument;

    a processor configured for controlling the actuator in accordance with the positioning commands and a virtual bound, the virtual bound establishing a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target, and wherein the processor is further configured for, during use, determining the virtual bound based on the positioning commands;

    wherein the human machine interface includes a further input modality or input mode which, when used by the human operator during the surgical procedure, causes;

    the virtual bound to be set to coincide with, or to be at a predefined distance from, a current instrument tip location as indicated by the positioning commands; and

    the virtual bound to be incrementally displaced or expanded relative to a current virtual bound.

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