FORCE ESTIMATION USING ROBOTIC MANIPULATOR FORCE TORQUE SENSORS

摘要

A minimally invasive medical system comprises a manipulator having a plurality of joints, each of the plurality of joints including a torque and/or force sensor. The manipulator includes an effector configured to receive a surgical instrument. The system comprises a programmable computing device programmed for moving the surgical instrument while estimating surgical forces applied to the patient by the surgical instrument using torque and/or force measurements from the plurality of torque and/or force sensors located at the joints.