Surgical manipulator and method for transitioning between operating modes
US10420619B2 · kind B2 · utility
7Cited by
341References
17Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jan 24, 2017 |
| Grant date | Sep 24, 2019 |
| Priority date | — |
| Expiry date | Jan 24, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45117
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A surgical manipulator operates in a manual mode in which a user applies forces and torques to the surgical instrument to cause movement of the energy applicator. The surgical manipulator also operates in a semi-autonomous mode in which the surgical manipulator moves the energy applicator along a tool path. A controller monitors output of a force/torque sensor as the energy applicator is being moved along the tool path in the semi-autonomous mode and transitions from the semi-autonomous mode to the manual mode in response to the output exceeding a limit.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.