A SURGICAL SYSTEM FOR DETECTING A DISTURBANCE AS AN ENERGY APPLICATOR OF A SURGICAL INSTRUMENT TRAVERSES A CUTTING PATH

A SURGICAL SYSTEM FOR DETECTING A DISTURBANCE AS AN ENERGY APPLICATOR OF A SURGICAL INSTRUMENT TRAVERSES A CUTTING PATH

A surgical system for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path is described. The surgical system comprises a torque summing module configured to determine actual torques for each active joint of an actuated arm mechanism an expected dynamics m...

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Bibliographische Detailangaben
Hauptverfasser: BOWLING, David Gene, CULP, Jerry, A, MALACKOWSKI, Donald W, STUART, John Michael, KETCHEL, John, BEER, Joel N, ROESSLER, Patrick, MOCTEZUMA DE LA BARRERA, José Luis
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Beschreibung
Zusammenfassung:A surgical system for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path is described. The surgical system comprises a torque summing module configured to determine actual torques for each active joint of an actuated arm mechanism an expected dynamics module configured to calculate expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint; and a torque calculator module configured to determine estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path.