US 12,239,406 B2
Surgical robotic system
David Armand, Saint Egreve (FR); and Stéphane Lavallee, St Martin d'Uriage (FR)
Assigned to ECENTIAL ROBOTICS, Gieres (FR)
Appl. No. 17/770,657
Filed by ECENTIAL ROBOTICS, Gieres (FR)
PCT Filed Nov. 12, 2020, PCT No. PCT/EP2020/081903
§ 371(c)(1), (2) Date Apr. 21, 2022,
PCT Pub. No. WO2021/094448, PCT Pub. Date May 20, 2021.
Claims priority of application No. 19306463 (EP), filed on Nov. 12, 2019.
Prior Publication US 2022/0361972 A1, Nov. 17, 2022
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 34/25 (2016.02); B25J 9/1674 (2013.01); A61B 2034/2046 (2016.02); A61B 2034/303 (2016.02); A61B 2034/305 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A surgical robotic system comprising a robotic arm an end-effector and a control unit configured to controllably move the robotic arm and maintain the end-effector in at least one target position relative to a patient, wherein the control unit is configured to:
(i) based on a first input continuously applied by a user onto the robotic arm, activate a hand guiding mode wherein the robotic arm is freely movable by the user;
(ii) based on a second input different from the first input, continuously applied by the user onto the robotic arm, activate a computed trajectory mode wherein the robotic arm moves to a target position according to a computed trajectory;
(iii) when the computed trajectory mode is activated, detect that the end-effector meets at least one predetermined safety condition and automatically switch to a servo-controlled mode wherein the robotic arm is automatically movable to maintain the end-effector in the target position relative to a tracker attached to the patient.