Surgical Manipulator and Method for Transitioning Between Operating Modes

A surgical manipulator operates in a manual mode in which a user applies forces and torques to the surgical instrument to cause movement of the energy applicator. The surgical manipulator also operates in a semi-autonomous mode in which the surgical manipulator moves the energy applicator along a to...

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Bibliographische Detailangaben
Hauptverfasser:	Beer Joel N, Bowling David Gene, Ketchel John S, Stuart John Michael
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING COUNTING DIAGNOSIS ELECTRIC DIGITAL DATA PROCESSING HAND TOOLS HUMAN NECESSITIES HYGIENE IDENTIFICATION MANIPULATORS MEDICAL OR VETERINARY SCIENCE PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS SURGERY TRANSPORTING
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Beschreibung
Zusammenfassung:	A surgical manipulator operates in a manual mode in which a user applies forces and torques to the surgical instrument to cause movement of the energy applicator. The surgical manipulator also operates in a semi-autonomous mode in which the surgical manipulator moves the energy applicator along a tool path. A controller monitors output of a force/torque sensor as the energy applicator is being moved along the tool path in the semi-autonomous mode and transitions from the semi-autonomous mode to the manual mode in response to the output exceeding a limit.