CPC A61B 34/70 (2016.02) [A61B 1/00149 (2013.01); A61B 34/30 (2016.02); B25J 9/1607 (2013.01); B25J 9/1633 (2013.01); A61B 2017/00017 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/301 (2016.02); A61B 2034/304 (2016.02); A61B 2034/305 (2016.02)] | 20 Claims |
1. A computer-assisted device comprising:
an articulated structure comprising a plurality of joints, the articulated structure being configured to support an instrument; and
a control unit coupled to the articulated structure;
wherein the control unit is configured to:
determine an error that is introduced, by movement of a first joint of the plurality of joints, to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument; and
in response at least to determining that a second joint of the plurality of joints is at a range of motion limit or is about to reach the range of motion limit:
drive one or more joints of the plurality of joints to partially reduce the error, the one or more joints not comprising the second joint, and
provide feedback that not all of the error is reduced.
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