CPC A61B 34/30 (2016.02) [A61B 17/29 (2013.01); A61B 18/1442 (2013.01); A61B 34/20 (2016.02); B25J 9/02 (2013.01); B25J 9/1633 (2013.01); B25J 13/085 (2013.01); B25J 13/088 (2013.01); B25J 18/007 (2013.01); A61B 17/32 (2013.01); A61B 34/10 (2016.02); A61B 34/25 (2016.02); A61B 90/361 (2016.02); A61B 2017/2912 (2013.01); A61B 2034/2055 (2016.02); A61B 2090/064 (2016.02); A61B 2090/065 (2016.02); A61B 2090/066 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3735 (2016.02); A61B 2090/3762 (2016.02); F16M 11/06 (2013.01)] | 20 Claims |
1. A motion-assisted positioning arm for a medical procedure, the positioning arm comprising:
a base;
an arm configured to couple with the base, the arm having a first arm end and a second arm end, and the arm comprising:
a plurality of arm segments extending from the first arm end to the second arm end;
a plurality of joints, each joint of the plurality of joints configured to couple each arm segment with another arm segment; and
an end effector configured to couple with the second arm end, wherein the end effector is manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint of the plurality of joints;
a processor operably coupled with the plurality of joints and the end effector, the processor configured by processor-readable instructions storable in relation to a memory to:
determine a memory mode for returning the end effector to a saved position by constraining movement of the end effector in the task-coordinate space;
determine a surgical mode for constraining movement of the end effector in the task-coordinate space, the surgical mode defining an updated end effector position in the task-coordinate space;
determine an end effector velocity based on the memory mode, the surgical mode, at least one of forces and torques on the end effector, and at least one of a subset of the forces and a subset of torques on the end effector while disregarding at least one of remaining forces and remaining torques on the end effector; and
instruct movement in space of at least one joint of the plurality of joints based on the end effector velocity.
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