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FORCE BASED GESTURE CONTROL OF A ROBOTIC SURGICAL MANIPULATOR
FORCE BASED GESTURE CONTROL OF A ROBOTIC SURGICAL MANIPULATOR
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机译:机器人外科手术机器人基于力的手势控制
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摘要
A method of controlling a robotic arm in a surgical system comprises manually applying a force to a body of the robotic arm. Force information is received from a gesture force sensor on the robotic arm and a controller determines, using the force information, whether the force is a gesture force input. If the force is determined to be a gesture force input, the controller initiates a predetermined system function. The predetermined system function may be a change in operational state, movement between operational modes, or a movement from a first configuration of the arm's joints to a second, predetermined, configuration of the arms joints.
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