SYSTEMS AND METHODS FOR ROBOTIC SURGERY

수술 기구와 수술 기구로부터 연장하는 에너지 적용기를 조작하기 위한 수술 조작기. 수술 조작기는 에너지 인가기가 전진되는 명령된 자세를 결정하도록 구성된 적어도 하나의 제어기를 포함하고, 명령된 자세는 복수의 힘 및 토크 신호에 기초하여 결정된다. A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument and a method for controlling a manipulator to manipulate an instrument and an energy applicator extending from the instrument are described. The surgical manipulator comprises at least one controller configured to operate said surgical manipulator in a manual mode or a semi-autonomous mode, said at least one controller including a feed rate calculator configured to calculate an instrument feed rate. Said instrument feed rate is a velocity at which a distal end of the energy applicator advances along a path segment of a tool path in said semi-autonomous mode and said feed rate calculator calculates said instrument feed rate by adjusting a defined feed rate based on a plurality of variables. Said at least one controller is configured to model the surgical instrument and the energy applicator as a virtual rigid body and said feed rate calculator is configured to adjust said defined feed rate based on a virtual force applied to said virtual rigid body.