Maarten Joannes BEELEN,Gerrit Jacobus Lambertus NAUS,Hildebert Christiaan Matthijs MEENINK,Marc Joseph Dominique DE SMET
申请号：
US15506519
公开号：
US20170252113A1
申请日:
2015.08.24
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A surgical robotic system is provided for use in a surgical procedure. The surgical robotic system comprises a surgical arm (080) comprising a movable arm part (082) for mounting of a surgical instrument (119), the movable arm part having at least one degree-of-freedom to enable longitudinal movement (109) of the surgical instrument towards a surgical target (123). A human machine interface (020) is provided for receiving positioning commands (022) from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator (060) is configured and arranged for actuating the movable arm part to effect the longitudinal movement of the surgical instrument. The actuator is controlled by a processor in accordance with the positioning commands and a virtual bound (132-135). The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.Advantageously, the human operator is provided with safer and/or more accurate control over the surgical instrument in the vicinity of a surgical target.
