Robotic system and method for transitioning between operating modes

摘要

A robotic system includes a surgical manipulator and a force/torque sensor. The surgical manipulator operates in a first operating mode in which a user applies forces and torques to the surgical instrument to cause movement of the energy applicator. The surgical manipulator also operates in a second operating mode in which the surgical manipulator moves the energy applicator along a tool path. A controller monitors the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode and transitions from the second operating mode to the first operating mode in response to the output exceeding associated limits.

主权项

1. A robotic system for positioning an energy applicator extending from a surgical instrument with respect to target tissue, said system comprising:
a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving said plurality of links to position the energy applicator with respect to the target tissue, said force/torque sensor configured to generate an output representing forces and torques applied to said force/torque sensor, said surgical manipulator including at least one controller configured to:
control operation of said surgical manipulator in a first operating mode in which a user applies forces and torques to said force/torque sensor to cause movement of the energy applicator or a second operating mode in which said surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, said calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in said second operating mode;determine a commanded pose to which the energy applicator is advanced in said first operating mode or said second operating mode based on said output of said force/torque sensor and said calculated forces and torques;monitor said output of said force/torque sensor as the energy applicator is being moved along the tool path in said second operating mode;determine if said output exceeds an associated limit;transition from said second operating mode to said first operating mode to enable movement of the energy applicator in said first operating mode by adjusting said forces and torques calculated to advance and orient the surgical instrument in said second operating mode in response to said output exceeding said associated limit; andreposition the energy applicator off the tool path based on forces and torques applied to said force/torque sensor by the user after transitioning from said second operating mode to said first operating mode.