David Gene Bowling,John Michael Stuart,Jerry A. Culp,Donald W. Malackowski,Jose Luis Moctezuma de la Barrera,Patrick Roessler,Joel N. Beer,John Ketchel
申请号：
US13958070
公开号：
US09119655B2
申请日:
2013.08.02
申请国别(地区):
US
年份:
2015
代理人:
摘要：
A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator further includes a switch and at least one controller configured to control operation of the surgical manipulator in a first operating mode or a second operating mode. The at least one controller is also configured to determine a commanded pose to which the energy applicator is advanced based on a summation of a plurality of input forces and torques and transition between the operating modes by adjusting the plurality of input forces and torques in response to actuation of the switch.
