SURGICAL ROBOTIC SYSTEM WITH COMPLIANCE MECHANISM

SURGICAL ROBOTIC SYSTEM WITH COMPLIANCE MECHANISM

A surgical system includes a robotic manipulator and an end effector supported by the robotic manipulator. The end effector includes a surgical tool to interact with an anatomy and a compliance mechanism. The compliance mechanism enables the surgical tool to move relative to the robotic manipulator...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Johnson, Ezra, Bowling, David Gene
Format: Patent
Sprache:eng
Schlagworte:
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Beschreibung
Zusammenfassung:A surgical system includes a robotic manipulator and an end effector supported by the robotic manipulator. The end effector includes a surgical tool to interact with an anatomy and a compliance mechanism. The compliance mechanism enables the surgical tool to move relative to the robotic manipulator in response to external forces/torques applied to the surgical tool by the anatomy. The compliance mechanism has a stationary portion coupled to the robotic manipulator, a moveable portion coupled to the surgical tool, and a flexible portion disposed between the stationary portion and the moveable portion. An input device has a force/torque sensor that senses a force/torque applied to the input device by a user. The force/torque sensor is mechanically isolated from the external forces/torques applied to the surgical tool.