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Techniques For Modifying Tool Operation In A Surgical Robotic System Based On Comparing Actual And Commanded States Of The Tool Relative To A Surgical Site
Techniques For Modifying Tool Operation In A Surgical Robotic System Based On Comparing Actual And Commanded States Of The Tool Relative To A Surgical Site
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机译:在外科机器人系统中,基于比较相对于外科手术部位的刀具的实际状态和指令状态来修改刀具操作的技术
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摘要
A robotic surgical system and method of operating the same. A manipulator supports a tool that has a TCP and manipulates a target bone. A navigation system has a localizer to monitor states of the manipulator and the target bone. Controller(s) determine commanded states of the TCP to move the tool along a cutting path relative to the target bone to remove material from the target bone. The controller(s) determine actual states of the TCP responsive to commanded movement of the tool along the cutting path, wherein each one of the commanded states of the TCP has a corresponding one of the actual states of the TCP for a given time step. The controller(s) compare the corresponding commanded and actual states of the TCP for one or more given time steps to determine a deviation and modify operation of the tool to account for the deviation.
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