SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART

摘要

A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

主权项

1. A patient side cart for a teleoperated surgical system, comprising:
at least one manipulator arm portion for holding a surgical instrument; a steering interface configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system, and a drive system, the drive system comprising:
at least one driven wheel;a control module for receiving as input a signal from the steering interface corresponding to the force applied by the user to the steering interface, the control module being configured to output a desired movement signal corresponding to the signal received from the steering interface; anda model section comprising a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.