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Surgical manipulator and method for resuming semi-autonomous tool path position

  • US 10,463,440 B2
  • Filed: 01/30/2019
  • Issued: 11/05/2019
  • Est. Priority Date: 08/03/2012
  • Status: Active Grant
First Claim
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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.

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