DETECTING COLLISIONS IN A ROBOTIC SURGICAL SYSTEM

Surgical systems and methods involve a surgical manipulator with a plurality of links and joints that is configured to support and move a surgical instrument for manipulation of an anatomy. A controller is coupled to the surgical manipulator and is configured to measure an actual torque for at least...

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Bibliographische Detailangaben
Hauptverfasser:	Moctezuma de la Barrera, José Luis, Roessler, Patrick, Bowling, David G, Beer, Joel N, Stuart, John M, Culp, Jerry A, Malackowski, Donald W
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES DIAGNOSIS HAND TOOLS HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATIONTECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING ORPROCESSING OF MEDICAL OR HEALTHCARE DATA HUMAN NECESSITIES HYGIENE IDENTIFICATION INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTEDFOR SPECIFIC APPLICATION FIELDS MANIPULATORS MEDICAL OR VETERINARY SCIENCE PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS SURGERY TRANSPORTING
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Beschreibung
Zusammenfassung:	Surgical systems and methods involve a surgical manipulator with a plurality of links and joints that is configured to support and move a surgical instrument for manipulation of an anatomy. A controller is coupled to the surgical manipulator and is configured to measure an actual torque for at least one active joint and calculate an expected torque for the at least one active joint. The controller compares the actual torque and the expected torque to estimate an external force. The controller determines, based on the external force, that the surgical manipulator and/or the surgical instrument has collided with an object.