Surgical manipulator capable of controlling a surgical instrument in multiple modes

A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising:

• a switch;
• at least one arm for connecting to the surgical instrument, said at least one arm having a plurality of links, wherein an angle between two links forms a joint angle;
• and
• at least one controller configured to:
• control operation of said surgical manipulator in a first operating mode or a second operating mode;
• model the surgical instrument and the energy applicator as a virtual rigid body;
• determine a commanded pose of the energy applicator based on a summation of a plurality of input forces and torques, wherein said plurality of input forces and torques are applied to said virtual rigid body to emulate orientation and movement of the energy applicator;
• determine commanded joint angles that position the energy applicator according to said commanded pose;
• and
• transition between said operating modes by adjusting said plurality of input forces and torques in response to actuation of said switch.

A method for controlling a surgical manipulator, wherein the surgical manipulator includes a switch and at least one arm connected to a surgical instrument, and wherein the at least one arm includes a plurality of links, and wherein an angle between two links forms a joint angle, and wherein an energy applicator extends from the surgical instrument, said method comprising the steps of:

• controlling operation of the surgical manipulator in a first operating mode or a second operating mode;
• modeling the surgical instrument and the energy applicator as a virtual rigid body;
• determining a commanded pose for the energy applicator based on a summation of a plurality of input forces and torques, wherein the plurality of input forces and torques are selectively applied to the virtual rigid body to emulate orientation and movement of the energy applicator;
• determining commanded joint angles that position the energy applicator according to the commanded pose;
• and
• transitioning between the operating modes by adjusting the plurality of input forces and torques in response to actuation of the switch.