CPC A61B 34/74 (2016.02) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 34/76 (2016.02); B25J 9/161 (2013.01); B25J 9/1633 (2013.01); B25J 13/00 (2013.01); A61B 17/16 (2013.01); A61B 2034/104 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); Y10S 901/09 (2013.01)] | 15 Claims |
1. A surgical manipulator comprising:
a surgical instrument including an energy applicator;
an arm comprising a plurality of links and joints, wherein an angle between adjacent links forms a joint angle, and the arm comprising a distal end configured to support the surgical instrument; and
at least one controller coupled to the arm and configured to control operation of the surgical manipulator in a manual mode or a semi-autonomous mode by being configured to:
model the surgical instrument and the energy applicator as a virtual rigid body;
selectively apply a plurality of input forces and/or torques to the virtual rigid body to simulate orientation and movement of the surgical instrument and the energy applicator;
selectively adjust the plurality of input forces and/or torques based on whether the surgical manipulator is operated in the manual mode or the semi-autonomous mode;
determine a commanded pose for the surgical instrument and the energy applicator based on the selective application and adjustment of the plurality of input forces and/or torques; and
determine commanded joint angles for the arm that place the surgical instrument and the energy applicator according to the commanded pose.
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