Bowling, David Gene,Stuart, John Michael,Culp, Jerry A.,Malackowski, Donald W.,Moctezuma De La Barrera, Jose Luis,Roessler, Patrick,Beer, Joel N.
申请号：
AU2018220167
公开号：
AU2018220167B2
申请日:
2018.08.27
申请国别(地区):
AU
年份:
2019
代理人:
摘要：
#$%^&*AU2018220167B220190912.pdf#####ABSTRACT A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising: at least one controller configured to operate said surgical manipulator in a manual mode or a semi-autonomous mode, said at least one controller including a feed rate calculator configured to calculate an instrument feed rate, wherein said instrument feed rate is a velocity at which a distal end of the energy applicator advances along a path segment of a tool path in said semiautonomous mode and wherein said feed rate calculator calculates said instrument feed rate by adjusting a defined feed rate based on a plurality of variables, wherein said at least one controller is configured to model the surgical instrument and the energy applicator as a virtual rigid body and said feed rate calculator is configured to adjust said defined feed rate based on a virtual force applied to said virtual rigid body.
