SURGICAL ROBOT AND METHOD FOR CONTROLLING THE SAME
First Claim
1. A surgical robot having a console and a manipulator assembly, wherein the manipulator assembly comprises:
- at least one arm having a plurality of links and a motor provided between links adjacent to each other among the plurality of links; and
a control unit configured to determine whether a mode is changed between a tele-operation mode controlling the motor based on a command transmitted from the console and a manual mode controlling the motor based on an external force, to set output data of the motor provided before the mode is changed as input data of the motor provided after the mode is changed if it is determined that the mode is changed between the tele-operation mode and the manual mode, and to control the motor based on the input data in the changed mode.
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Accused Products
Abstract
A surgical robot includes a console and a manipulator assembly. The manipulator assembly includes at least one arm having a plurality of links and a motor provided between links adjacent to each other among the plurality of links, and a control unit configured to determine whether a mode is changed between a tele-operation mode and a manual mode. The control unit sets output data of the motor provided before the mode is changed as input data of the motor provided after the mode is changed, if it is determined that the mode is changed between the tele-operation mode and the manual mode, thereby preventing the vibration and the rapid change of the posture from occurring at the arm of the surgical robot during the change of the mode between the manual mode and the tele-operation mode, thereby increasing stability of the surgical robot.
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Citations
20 Claims
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1. A surgical robot having a console and a manipulator assembly, wherein the manipulator assembly comprises:
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at least one arm having a plurality of links and a motor provided between links adjacent to each other among the plurality of links; and a control unit configured to determine whether a mode is changed between a tele-operation mode controlling the motor based on a command transmitted from the console and a manual mode controlling the motor based on an external force, to set output data of the motor provided before the mode is changed as input data of the motor provided after the mode is changed if it is determined that the mode is changed between the tele-operation mode and the manual mode, and to control the motor based on the input data in the changed mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of controlling a surgical robot having a console and a manipulator assembly, the method comprising:
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detecting an external force applied to an arm provided at the manipulator assembly; performing a manual mode configured to control a torque of the motor based on the external force detected; determining whether a command is transmitted from the console; determining a point in time to change from the manual mode to the tele-operation mode when it is determined the command is transmitted from the console; detecting an angle of the motor; setting the detected angle as an initial angle of the tele-operation mode; controlling a change of the angle of the motor from the initial angle to an angle corresponding to the command transmitted; and controlling the tele-operation mode. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A surgical robot comprising:
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a console; and a manipulator assembly, wherein the manipulator assembly includes; at least one arm having a plurality of links and a motor provided between links adjacent to one another among the plurality of links; and a control unit configured to determine when to switch between a first mode and a second mode, wherein when it is determined to switch from the first mode to the second mode, a first parameter from the first mode used to control the motor is calculated, and the calculated first parameter is used as an initial parameter to control the motor when the mode is switched to the second mode. - View Dependent Claims (19, 20)
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Specification