Boundary scaling of surgical robots

A method of scaling a desired velocity of a tool of a surgical robot with a processing unit includes receiving an input signal, determining a position of the tool relative to a boundary of a surgicalsite, and scaling a desired velocity of movement of the tool when the tool is within a predetermined distance of the boundary of the surgical site. The input signal includes the desired velocity of movement of the tool. 一种用处理单元缩放手术机器人的工具的期望速度的方法包括接收输入信号；确定工具相对于手术部位的边界的位置；以及当工具在手术部位的边界的预定距离内时缩放工具的期望运动速度。输入信号包括工具的期望运动速度。