System and method of activating manual manipulation using linkage interaction sensing

A robotic system, comprising:

• a robotic arm;
• one or more sensors that are positioned to detect a first force exerted on the robotic arm;
• one or more processors;
• and
• memory storing instructions that, when executed by the one or more processors, cause the processors to:
• determine whether sensor data received from the one or more sensors meets first criteria, the first criteria being met in accordance with a determination that the first force exceeds a first threshold force and a determination that the robotic arm is in an undocked configuration in which the robotic arm is not coupled with a cannula;
• and
• in accordance with a determination that the first criteria are met, including a determination that the first force exceeds the first threshold force and a determination that the robotic arm is in the undocked configuration, transition the robotic arm from a position control mode to a manual manipulation mode.

A robotic system, comprising:

• a robotic arm;
• one or more sensors that are positioned to detect force and/or moment exerted on the robotic arm;
• one or more processors;
• and
• memory storing instructions that, when executed by the one or more processors, cause the processors to:
• determine whether sensor data received from the one or more sensors meets first criteria, the first criteria being met in accordance with a determination that a force detected by the one or more sensors exceeds a first threshold force or in accordance with a determination that a moment detected by the one or more sensors exceeds a first threshold moment, the first criteria including a requirement that the robotic arm is in an undocked configuration;
• and
• in accordance with a determination that the first criteria are met, transition the robotic arm to a manual manipulation mode.

A robotic system, comprising:

• a robotic arm, the robotic arm being operable to transition between an undocked configuration, in which a cannula or instrument is not coupled with the robotic arm, and a docked configuration, in which a cannula or instrument is coupled with the robotic arm;
• one or more sensors that are positioned to detect a first force exerted on the robotic arm;
• one or more processors;
• and
• memory storing instructions that, when executed by the one or more processors, cause the processors to:
• determine whether sensor data received from the one or more sensors meets first criteria, the first criteria being met in accordance with a determination that the first force exceeds a first threshold force, the first criteria including a requirement that the robotic arm is in the undocked configuration;
• and
• in accordance with a determination that the first criteria are met, including a determination that the first force exceeds the first threshold force, transition the robotic arm to a manual manipulation mode.