Bowling, David Gene,Stuart, John Michael,Culp, Jerry A.,Malackowski, Donald W.,Roessler, Patrick,Beer, Joel N.,Ketchel, John,Moctezuma De La Barrera, Jose Luis
申请号：
AU2018202741
公开号：
AU2018202741A1
申请日:
2018.04.19
申请国别(地区):
AU
年份:
2018
代理人:
摘要：
#$%^&*AU2018202741A120180510.pdf#####ABSTRACT: 2018202741 A method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path, the method being implemented on at least one computing device having a non-transitory computer-readable storage medium with an executable program stored thereon, said method comprising the steps of: executing the program stored on the computer-readable storage medium, wherein the program instructs the at least one computing device to: determine actual torques for each active joint of an actuated arm mechanism； calculate expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint； determine estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path.
