Robotic system and method for reorienting a surgical instrument moving along a tool path
First Claim
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1. A surgical manipulator comprising:
- a surgical instrument and an energy applicator extending from said surgical instrument, and wherein said surgical instrument and said energy applicator define a common axis; and
at least one controller configured to;
model said surgical instrument and said energy applicator as a virtual rigid body;
define a reference surface aperture in a reference surface;
determine forces and torques to be applied to the virtual rigid body to maintain the common axis within the reference surface aperture;
reposition said surgical instrument, based on the forces and torques, to maintain the common axis within the reference surface aperture; and
dynamically change a shape of the reference surface aperture.
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Abstract
Robotic system and method for positioning an energy applicator extending from a surgical instrument. The robotic system includes a surgical manipulator operable in a manual mode or a semi-autonomous mode. The surgical manipulator moves the energy applicator along a tool path in the semi-autonomous mode and reorients the surgical instrument.
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Citations
20 Claims
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1. A surgical manipulator comprising:
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a surgical instrument and an energy applicator extending from said surgical instrument, and wherein said surgical instrument and said energy applicator define a common axis; and at least one controller configured to; model said surgical instrument and said energy applicator as a virtual rigid body; define a reference surface aperture in a reference surface; determine forces and torques to be applied to the virtual rigid body to maintain the common axis within the reference surface aperture; reposition said surgical instrument, based on the forces and torques, to maintain the common axis within the reference surface aperture; and dynamically change a shape of the reference surface aperture. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for operating a system comprising at least one controller and a surgical manipulator including a surgical instrument and an energy applicator extending from the surgical instrument, and wherein the surgical instrument and the energy applicator define a common axis, said method comprising the at least one controller performing the steps of:
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modeling the surgical instrument and the energy applicator as a virtual rigid body; defining a reference surface aperture in a reference surface; determining forces and torques to be applied to the virtual rigid body to maintain the common axis within the reference surface aperture; repositioning the surgical instrument, based on the forces and torques, for maintaining the common axis within the reference surface aperture; and dynamically changing a shape of the reference surface aperture. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification