COOPERATIVELY-CONTROLLED SURGICAL ROBOTIC SYSTEM WITH REDUNDANT FORCE SENSING

摘要

A cooperatively controlled robotic system includes a main robot assembly, and an arm assembly comprising a proximal end and a distal end. The arm assembly is connected to the main robot assembly at the proximal end. The system also includes a tool assembly connected to the arm assembly at the distal end, a first force sensor between the distal end of the arm assembly and the tool assembly, and a second force sensor between the proximal end of the arm assembly and the main robot assembly. The system includes a control system that is configured to determine a force applied at the first force sensor based on a force detected by the second force sensor, and to compare the determined force to a force detected by the first force sensor to detect a failure of at least one of the first and second force sensors.

主权项

1. A cooperatively controlled robotic system, comprising:
a main robot assembly comprising mechanical links connected by actuated joints; an arm assembly comprising a proximal end and a distal end, wherein said arm assembly is connected to said main robot assembly at said proximal end; a tool assembly connected to said arm assembly at said distal end; a first force sensor between said distal end of said arm assembly and said tool assembly, a second force sensor between said proximal end of said arm assembly and said main robot assembly; and a control system in communication with said main robot assembly, said arm assembly, said tool assembly, said first force sensor, and said second force sensor, wherein said control system is configured to determine a force applied at said first force sensor based on a force detected by said second force sensor, wherein said control system is further configured to compare said determined force to a force detected by said first force sensor, and wherein said control system is further configured to detect a failure of at least one of said first and second force sensors based on said comparison.