METHODS, DEVICES, AND SYSTEMS FOR NON-MECHANICALLY RESTRICTING AND/OR PROGRAMMING MOVEMENT OF A TOOL OF A MANIPULATOR ALONG A SINGLE AXIS

摘要

Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot alon g a single axis that are achieved by electronically limiting the medical rob ot's movement to produce movement of the tool along the single axis rather t han mechanically restricting the medical robot's movement to produce the sin gle axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for a utomating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or imp lantation, and such that a user can execute a command instructing the medica l robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.