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 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; and a 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 the surgical instrument 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; determine a commanded pose to which the energy applicator is advanced in the first operating mode or the second operating mode based on a summation of a plurality of input 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 associated limits; and 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 plurality of input forces and torques in response to said output exceeding said associated limits.