Paul Griffiths,Paul MOHR,Nitish SWARUP,Michael HANUSCHIK
申请号：
US16022602
公开号：
US20180303565A1
申请日:
2018.06.28
申请国别(地区):
US
年份:
2018
代理人:
摘要：
Robotic and/or surgical devices, systems, and methods include a robotic device. The robotic device includes a manipulator, a drive unit coupled to the manipulator, and a processor coupled with the drive unit. The processor is configured determine that a cannula is mounted to the manipulator and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. In some embodiments, the robotic device further includes a linkage. The processor is further configured to determine a manual effort against the manipulator； inhibit, using the drive unit, the manual articulation of the linkage in response to the manual effort being below an articulation threshold； and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold.
