METHOD FOR PRESENTING FORCE SENSOR INFORMATION USING COOPERATIVE ROBOT CONTROL AND AUDIO FEEDBACK

摘要

PROBLEM TO BE SOLVED: To provide a system and method for cooperative control of surgical instrument.SOLUTION: A system and method for cooperative control of surgical tool includes a tool holder 14 for receiving a surgical tool 16 adapted to be held by a robot 12 and a surgeon 17, a sensor 24 for detecting a force based on operator input and/or tool tip forces, a controller for limiting robot velocity based upon the force detected so as to provide a tactile feedback, a selector for automatically selecting one level of a multi-level audio feedback based upon the detected force applied, the audio feedback representing the relative intensity of the force applied, and an audio device for providing the audio feedback together with the tactile feedback. The audio feedback provides additional information to the surgeon that allows lower forces to be applied during the operation.