Surgical manipulator and method for resuming semi-autonomous tool path position
First Claim
1. A surgical manipulator for manipulating an instrument and an energy applicator extending from the instrument, the surgical manipulator comprising:
- a plurality of links and a plurality of actuators configured to move the plurality of links to position the energy applicator;
a force/torque sensor configured to sense forces and torques applied to the instrument; and
at least one controller configured to;
control operation of the surgical manipulator in a semi-autonomous mode, and in the semi-autonomous mode, the surgical manipulator is configured to advance the energy applicator along a tool path by moving the energy applicator to a target position on the tool path;
transition from the semi-autonomous mode to a manual mode in response to a user action, and in the manual mode, operation of the surgical manipulator is controlled in response to forces and torques applied to the instrument;
in the manual mode, model the instrument and the energy applicator as a virtual rigid body and determine forces to apply to the virtual rigid body based on the forces and torques applied to the instrument and to enable movement of the energy applicator to one or more positions different from the target position; and
transition from the manual mode back to the semi-autonomous mode by moving the energy applicator back to the target position on the tool path.
1 Assignment
0 Petitions
Accused Products
Abstract
Surgical manipulators and methods disclosed comprise an energy applicator extending from an instrument and actuators to move links to position the energy applicator. A force/torque sensor sense forces/torques applied to the instrument. Controller(s) control operation of the manipulator in a semi-autonomous mode wherein the manipulator moves the energy applicator along a tool path comprising a target position and advances the energy applicator along the tool path by moving the energy applicator to the target position. The controller(s) transition from the semi-autonomous mode to a manual mode wherein operation of the manipulator is controlled in response to forces/torques applied to the instrument. In the manual mode, the controller(s) enable movement of the energy applicator to one or more positions different from the target position. The controller(s) transition from the manual mode back to the semi-autonomous mode by moving the energy applicator back to the target position on the tool path.
535 Citations
18 Claims
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1. A surgical manipulator for manipulating an instrument and an energy applicator extending from the instrument, the surgical manipulator comprising:
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a plurality of links and a plurality of actuators configured to move the plurality of links to position the energy applicator; a force/torque sensor configured to sense forces and torques applied to the instrument; and at least one controller configured to; control operation of the surgical manipulator in a semi-autonomous mode, and in the semi-autonomous mode, the surgical manipulator is configured to advance the energy applicator along a tool path by moving the energy applicator to a target position on the tool path; transition from the semi-autonomous mode to a manual mode in response to a user action, and in the manual mode, operation of the surgical manipulator is controlled in response to forces and torques applied to the instrument; in the manual mode, model the instrument and the energy applicator as a virtual rigid body and determine forces to apply to the virtual rigid body based on the forces and torques applied to the instrument and to enable movement of the energy applicator to one or more positions different from the target position; and transition from the manual mode back to the semi-autonomous mode by moving the energy applicator back to the target position on the tool path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of operating a surgical manipulator, the surgical manipulator configured to manipulate an instrument and an energy applicator extending from the instrument, the surgical manipulator comprising a plurality of links and a plurality of actuators configured to move the plurality of links to position the energy applicator, a force/torque sensor configured to sense forces and torques applied to the instrument, and at least one controller being configured to perform the steps of:
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controlling operation of the surgical manipulator in a semi-autonomous mode, and in the semi-autonomous mode, the surgical manipulator advances the energy applicator along a tool path by moving the energy applicator to a target position on the tool path; transitioning from the semi-autonomous mode to a manual mode in response to a user action, and in the manual mode, operation of the surgical manipulator is controlled in response to forces and torques applied to the instrument; in the manual mode, modeling the instrument and the energy applicator as a virtual rigid body, determining forces for applying to the virtual rigid body based on the forces and torques applied to the instrument, and enabling movement of the energy applicator to one or more positions different from the target position; and transitioning from the manual mode back to the semi-autonomous mode by moving the energy applicator back to the target position on the tool path. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification