CPC A61B 34/30 (2016.02) [A61B 1/00149 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 1/3132 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 2034/306 (2016.02); A61B 46/10 (2016.02); A61B 2090/061 (2016.02); A61B 2090/067 (2016.02); A61B 90/96 (2016.02); A61B 90/98 (2016.02); A61B 2560/0238 (2013.01)] | 30 Claims |
1. A co-manipulation surgical system to assist with laparoscopic surgery performed using a surgical instrument, the co-manipulation surgical system comprising:
a robot arm comprising a proximal region having a base, a plurality of links, an elbow joint, a shoulder joint coupled to the base, and a distal region having a distal end configured to be removably coupled to the surgical instrument;
a platform coupled to the base of the robot arm, the platform configured to be moveable on a floor; and
a controller operatively coupled to the robot arm, the controller configured to:
cause, in a drape mode, a link of the plurality of links between the elbow joint and the shoulder joint to extend away from the base at a first angle and cause a link of the plurality of links distal to the elbow joint to extend away from the base at a second angle so as to be more aligned with the floor, to thereby facilitate draping of the robot arm;
apply a temporary localized virtual haptic boundary at the robot arm in the drape mode such that movement of the robot arm is more viscous, thereby stabilizing the robot arm in the drape mode; and
remove the temporary localized virtual haptic boundary at the robot arm after the controller causes the robot arm to transition out of the drape mode.
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