Hybrid control of a surgical system

A method for controlling a surgical system operable in a hand-guiding mode, the surgical system comprising

• at least one robotic arm coupled with a surgical tool the robotic arm comprising several links two adjacent links being linked to one another by one motorized joint, the robotic arm comprising at least a first part with at least three degrees of freedom and a second part with at least six degrees of freedom, an end of the first part forming a base of the second part and the first part comprising a selective compliance assembly robot arm,
• the method comprising, as long as the hand-guiding mode is enabled, of:
• determining current dynamics and kinematics of the robotic arm,
• receiving at least one user command from the control device,
• determining, based on the received user command(s) and on the current dynamics and kinematics of the robotic arm, an intended displacement of the surgical tool,
• determining at least one optimal trajectory of the robotic arm permitting to obtain the determined displacement of the surgical tool while satisfying at least one mathematical function which defines authorized trajectories of the robotic arm,
• computing and sending at least one instruction(s) to at least one of the motorized joint of the robotic arm, the execution of the at least one instruction(s) resulting in a displacement of the robotic arm according to the optimal trajectory,
• wherein when several optimal trajectories of the robotic arm are determined, the method further comprises selecting one of these optimal trajectories so that the displacement of the robotic arm implies the offewest movements of the motorized joint of the first part.

A method for method for controlling a surgical system configured to treat a region of interest of an anatomical structure, the surgical system being operable in an interactive mode, the surgical system comprising

• at least one robotic arm coupled with a surgical tool, the robotic arm comprising several links, two adjacent links being linked to one another by one motorized joint, the robotic arm comprising at least a first part with at least three degrees of freedom and a second part with at least six degrees of freedom, an end of the first part forming a base of the second part and the first part comprising a selective compliance assembly robot arm,
• at least one tracking system configured to determine, at a predefined frequency, relative pose of the surgical tool with respect to the anatomical structure and with respect to the region of interest,
• the method comprising, as long as the interactive mode is enabled:
• determining the current dynamics and kinematics of the robotic arm,
• receiving at least one user command from the control device,
• determining, based on the at least one received user command and on the current dynamics and kinematics of the robotic arm, the intended displacement of the surgical tool,
• receiving an information related to the determined relative pose of the surgical tool with respect to the region of interest from the tracking system,
• determining a predictive pose of the surgical tool with respect to the anatomical structure based on the determined intended displacement of the surgical tool and on the received information related to the determined relative pose of the surgical tool with respect to the region of interest,
• wherein if the predictive pose of the surgical tool with respect to the anatomical structure matches a stored pose of the region of interest, the method further comprises:
• determining at least one optimal trajectory of the robotic arm permitting to obtain the determined intended displacement of the surgical tool while satisfying at least one mathematical function which defines authorized trajectories of the robotic arm.