Robotic system and method for transitioning between operating modes

US9566122B2 · kind B2 · utility

Assignee

• Stryker Corporation · US

Inventors

• David Gene Bowling · Los Ranchos de Albuquerque, US
• John Michael Stuart · Rio Rancho, US
• Joel N. Beer · Albuquerque, US
• John Ketchel · Kalamazoo, US

Key dates

• Filing date: Jun 4, 2015
• Grant date: Feb 14, 2017
• Expiry date: Jun 4, 2035

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/45117
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A robotic system includes a surgical manipulator and a force/torque sensor. The surgical manipulator operates in a first operating 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 second operating mode in which the surgical manipulator moves the energy applicator along a tool path. A controller monitors the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode and transitions from the second operating mode to the first operating mode in response to the output exceeding associated limits.