Robotic Surgical Systems And Methods For Guiding A Tool Along A Path Using Hybrid Automated/Manual Control

A computer-implemented method of operating a robotic surgical system, the robotic surgical system comprising a surgical tool, a manipulator configured to support the surgical tool, the manipulator comprising a plurality of links and joints, a force/torque sensor configured to measure forces/torques applied to the surgical tool by a user, and a control system, the computer-implemented method comprising the control system performing the steps of:

• obtaining a predetermined tool path for the surgical tool;
• commanding the manipulator to perform an automated advancement of the surgical tool along the predetermined tool path in a first path direction and according to a predetermined feed rate;
• during the automated advancement of the surgical tool, receiving an input from the force/torque sensor in response to forces/torques applied to the surgical tool by the user;
• determining, based on the input from the force/torque sensor, a virtual acceleration vector;
• evaluating an effect of the virtual acceleration vector on the automated advancement of the surgical tool along the predetermined tool path in the first path direction and according to the predetermined feed rate;
• based on evaluating the effect, determining an effective feed rate and an effective path direction for the surgical tool with respect to the predetermined tool path;
• and
• determining a commanded action for the manipulator and the surgical tool with respect to the predetermined tool path based on the effective feed rate and effective path direction.