CPC A61B 34/32 (2016.02) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 50/13 (2016.02); B25J 5/007 (2013.01); B25J 9/0084 (2013.01); G05D 1/0027 (2013.01)] | 29 Claims |
1. A computer-assisted medical system comprising:
a manipulator cart;
a memory storing instructions; and
a processor communicatively coupled to the memory and configured to execute the instructions to:
define a path whereby the manipulator cart is to navigate from an initial location to a target location;
direct the manipulator cart to navigate, in a first bifurcated navigation control mode, along at least part of a first portion of the path extending from the initial location to an intermediate location on the path between the initial location and the target location; and
direct the manipulator cart to navigate, in a second bifurcated navigation control mode, along at least part of a second portion of the path extending from the intermediate location to the target location;
wherein:
in the first bifurcated navigation control mode, the processor autonomously controls a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart; and
in the second bifurcated navigation control mode, the processor autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.
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