CPC A61B 50/10 (2016.02) [A61B 50/13 (2016.02); A61B 50/18 (2016.02); B25J 5/007 (2013.01); G05D 1/0011 (2013.01); A61B 34/30 (2016.02); A61B 2050/185 (2016.02)] | 19 Claims |
1. A teleoperated surgical system cart comprising:
a base;
a manipulator supported by the base, the manipulator configured to removably couple a medical instrument to the cart, the manipulator being adjustable to different configurations to change a position of an instrument coupled to the manipulator;
a drive wheel operably coupled to the base and configured to rotate to impart movement to the base;
a steering interface having a grasping portion configured to be manipulated by a user to steer the cart;
a sensor mechanism arranged to detect force components of a force applied to the steering interface in response to the grasping portion being manipulated to steer the cart, the force components associated with fore, aft, and turning movement of the cart; and
a controller configured to:
receive a signal from the sensor mechanism based on the force components detected by the sensor mechanism,
correlate the signal from the sensor mechanism with a desired velocity of the cart, and
output a signal to rotate the drive wheel to drive the cart with the desired velocity.
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