Robotic System and Method for Reorienting a Surgical Instrument Moving Along a Tool Path
First Claim
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1. A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, wherein the surgical instrument and the energy applicator are modeled as a virtual rigid body and define a common axis, said surgical manipulator comprising:
- at least one controller including an orientation regulator configured to;
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 when the energy applicator is applied against tissue; 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.
21 Citations
15 Claims
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1. A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, wherein the surgical instrument and the energy applicator are modeled as a virtual rigid body and define a common axis, said surgical manipulator comprising:
at least one controller including an orientation regulator configured to; 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 when the energy applicator is applied against tissue; 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 manipulating a surgical instrument and an energy applicator extending from the surgical instrument with a robotic manipulator, wherein the surgical instrument and the energy applicator are modeled as a virtual rigid body and define a common axis, said method comprising the steps of:
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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 when the energy applicator is applied against tissue; and dynamically changing a shape of the reference surface aperture.
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Specification