Surgical manipulator and method for resuming semi-autonomous tool path position

US10463440B2 · kind B2 · utility

Assignee

• Stryker Corporation · US

Inventors

• David Gene Bowling · Los Ranchos de Albuquerque, US
• Patrick Roessler · Freiburg im Breisgau, DE
• Joel N. Beer · Albuquerque, US

Key dates

• Filing date: Jan 30, 2019
• Grant date: Nov 5, 2019
• Expiry date: Jan 30, 2039

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/09
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

Surgical manipulators and methods disclosed comprise an energy applicator extending from an instrument and actuators to move links to position the energy applicator. A force/torque sensor sense forces/torques applied to the instrument. Controller(s) control operation of the manipulator in a semi-autonomous mode wherein the manipulator moves the energy applicator along a tool path comprising a target position and advances the energy applicator along the tool path by moving the energy applicator to the target position. The controller(s) transition from the semi-autonomous mode to a manual mode wherein operation of the manipulator is controlled in response to forces/torques applied to the instrument. In the manual mode, the controller(s) enable movement of the energy applicator to one or more positions different from the target position. The controller(s) transition from the manual mode back to the semi-autonomous mode by moving the energy applicator back to the target position on the tool path.