CPC A61B 34/74 (2016.02) [A61B 34/30 (2016.02); A61B 90/50 (2016.02); B25J 9/0009 (2013.01); B25J 9/10 (2013.01); B25J 13/06 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/305 (2016.02); A61B 2090/064 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3983 (2016.02); A61B 2090/508 (2016.02); Y10S 901/09 (2013.01); Y10S 901/23 (2013.01)] | 20 Claims |
1. A method of moving a robot arm comprising:
receiving an activation indication of an activation switch, wherein the activation switch is positioned circumferentially on the end effector;
receiving a direction of force to the activation switch through a force sensor;
moving, with motors, the robot arm in the direction of the force based on the received direction of force and activation indication;
moving, with the motors, an end effector attached to the robot arm toward a target trajectory of the virtual gravity well once the end effector is moved within the virtual gravity well by an operator; and
stopping the robot arm in the virtual gravity well once the end effector is at the target trajectory.
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