Helmut Rohs,Michael Dale Dozeman,Bharat Arora,Michael Ferko,Patrick Roessler,Richard Thomas DeLuca,David Gene Bowling
申请号：
US16811909
公开号：
US20200281676A1
申请日:
2020.03.06
申请国别(地区):
US
年份:
2020
代理人:
摘要：
A robotic surgical system comprises a surgical tool, a manipulator configured to support the surgical tool, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a three-dimensional milling path for the surgical tool. The control system also receives one or more signals from the force/torque sensor in response to a user manually applying user forces and torques to the surgical tool. The control system determines a commanded pose to which to command the manipulator to advance the surgical tool along the milling path based on a tangential component of the user forces and torques, based on a virtual simulation using virtual constraints, and/or based on other suitable factors to promote guided, manual movement of the surgical tool along the milling path.
