Surgical manipulator having a feed rate calculator

摘要

A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator further includes at least one controller configured to operate the surgical manipulator in a manual mode or a semi-autonomous mode. The at least one controller including a feed rate calculator configured to calculate an instrument feed rate. The instrument feed rate is a velocity at which a distal end of the energy applicator advances along a path segment of a tool path in the semi-autonomous mode.

主权项

1. A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising:
at least one controller configured to operate said surgical manipulator in a manual mode or a semi-autonomous mode, said at least one controller including a feed rate calculator configured to calculate an instrument feed rate, wherein said instrument feed rate is a velocity at which a distal end of the energy applicator advances along a path segment of a tool path in said semi-autonomous mode and wherein said feed rate calculator calculates said instrument feed rate by adjusting a defined feed rate based on a plurality of variables, wherein said at least one controller is configured to model the surgical instrument and the energy applicator as a virtual rigid body and said feed rate calculator is configured to adjust said defined feed rate based on a virtual force applied to said virtual rigid body.