Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path

摘要

A method is provided for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path. The method includes determining actual torques for each active joint of an actuated arm mechanism and calculating expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint. The method further determines estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path.

主权项

1. A method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path, the method being implemented on at least one computing device having a non-transitory computer-readable storage medium with an executable program stored thereon, said method comprising the steps of:
executing the program stored on the computer-readable storage medium, wherein the program instructs the at least one computing device to: determine actual torques for each active joint of an actuated arm mechanism supporting the surgical instrument; calculate expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint; determine estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path; convert the estimated backdrive torques to a backdrive force having a force component and a torque component; filter the backdrive force by: comparing an absolute value of the magnitude for each component of the backdrive force with a threshold; setting to zero each component of the backdrive force that has an absolute value less than the threshold; and calculating a filtered backdrive force based on the differences between the threshold and the components of the backdrive force having an absolute value greater than the threshold; and generate an external force based on the filtered backdrive force and a sensor force derived from a force/torque sensor mounted to an end effector coupled to the surgical instrument.