SURGICAL ROBOTIC ARM ADMITTANCE CONTROL

Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance. 某些方面涉及用于手术机器人臂导纳控制的系统和技术。在一个方面，提供了一种包括机器人臂和处理器的系统。处理器可以被配置成基于扭矩传感器的输出来确定机器人臂上的参考点处的力，以及接收参考点的移动方向的指示。处理器还可以确定力的分量在与参考点的移动方向相同的方向上，生成指示机器人臂的移动的目标阻力的至少一个参数，以及基于至少一个参数控制电机，以根据目标阻力移动机器人臂。