Surgical robot system
First Claim
1. A surgical robot system comprising:
- a robotic arm (8) mounted on a base element (1);
a controller, said controller comprising a first controller portion (16), configured for generating control commands for the robotic arm (8) on the basis of user inputs and a second controller portion (18), electrically coupled to said first controller portion (16) and to said robotic arm (8), and configured for receiving the control commands from the first controller portion (16) and for checking the control commands to determine whether execution of said control commands by the robotic arm (8) requires said robotic arm to leave a specified movement space (21, 22, 30) of the robotic arm (8), and responsive to said checking, for releasing a received control command for execution by the robotic arm (8) to the extent to which the received control command can be executed without the robotic arm leaving the specified movement space (21, 22, 30);
a patient support (2), detachably connectable to a support plate (6) mounted on the base element (1), wherein the second controller portion (18) is electrically coupled with at least one sensor (15) disposed in said support plate (6), and wherein said second controller portion (18) is configured for detecting whether the support plate (6) is connected with the patient support (2), and responsive to said detecting carried out by the second controller portion (18), said second controller portion (18) is configured for establishing different robotic arm movement spaces (21, 22) depending on whether or not the patient support (2) is detected as connected with the support plate (6) mounted on the base element (1), wherein if said second controller portion (18) detects that the support plate (6) is connected with the patient support (2), said second controller portion (18) establishes at least a first robotic arm movement space (22) allowing said robotic arm to move within said first robotic arm movement space (22), and if said second controller portion (18) detects that the support plate (6) is not connected with the patient support (2), said second controller portion (18) establishes a second robotic arm movement space (21) allowing said robotic arm to move only within said second robotic arm movement space (21).
3 Assignments
0 Petitions
Accused Products
Abstract
The invention relates to a surgical robot system comprising a robot arm (8) installed on a substructure (1), a first control instance (16) for producing control commands for the robot arm (8) on the basis of user inputs, and a second control instance (18), which receives the control commands from the first control instance (16) and checks the control commands with respect to whether the execution of the control commands by the robot arm (8) requires the robot arm to leave a specified occupied space (21, 22) of the robot arm (8) and releases a control command for execution by the robot arm (8) at most to the extent to which the control command can be executed without the robot arm leaving the specified occupied space (21, 22, 30).
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Citations
13 Claims
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1. A surgical robot system comprising:
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a robotic arm (8) mounted on a base element (1); a controller, said controller comprising a first controller portion (16), configured for generating control commands for the robotic arm (8) on the basis of user inputs and a second controller portion (18), electrically coupled to said first controller portion (16) and to said robotic arm (8), and configured for receiving the control commands from the first controller portion (16) and for checking the control commands to determine whether execution of said control commands by the robotic arm (8) requires said robotic arm to leave a specified movement space (21, 22, 30) of the robotic arm (8), and responsive to said checking, for releasing a received control command for execution by the robotic arm (8) to the extent to which the received control command can be executed without the robotic arm leaving the specified movement space (21, 22, 30); a patient support (2), detachably connectable to a support plate (6) mounted on the base element (1), wherein the second controller portion (18) is electrically coupled with at least one sensor (15) disposed in said support plate (6), and wherein said second controller portion (18) is configured for detecting whether the support plate (6) is connected with the patient support (2), and responsive to said detecting carried out by the second controller portion (18), said second controller portion (18) is configured for establishing different robotic arm movement spaces (21, 22) depending on whether or not the patient support (2) is detected as connected with the support plate (6) mounted on the base element (1), wherein if said second controller portion (18) detects that the support plate (6) is connected with the patient support (2), said second controller portion (18) establishes at least a first robotic arm movement space (22) allowing said robotic arm to move within said first robotic arm movement space (22), and if said second controller portion (18) detects that the support plate (6) is not connected with the patient support (2), said second controller portion (18) establishes a second robotic arm movement space (21) allowing said robotic arm to move only within said second robotic arm movement space (21). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification