Robotic system and method for transitioning between operating modes

A method for positioning an energy applicator extending from a surgical instrument with respect to target tissue with a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving the plurality of links, said method comprising the steps of:

• controlling operation of the surgical manipulator in a first operating mode in which a user applies forces and torques to the force/torque sensor to cause movement of the energy applicator or a second operating mode in which the surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, the calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in the second operating mode;
• determining a commanded pose to which the energy applicator is advanced in the first operating mode or the second operating mode based on output of the force/torque sensor and the calculated forces and torques;
• monitoring the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode;
• determining if the output exceeds an associated limit;
• transitioning from the second operating mode to the first operating mode to enable movement of the energy applicator in the first operating mode by adjusting the forces and torques calculated to advance and orient the surgical instrument in the second operating mode in response to the output exceeding the associated limit;
• and
• repositioning the energy applicator off the tool path based on forces and torques applied to the force/torque sensor by the user after transitioning from the second operating mode to the first operating mode.

A robotic system for positioning an energy applicator extending from a surgical instrument with respect to target tissue, said system comprising:

• a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving said plurality of links to position the energy applicator with respect to the target tissue,
• said force/torque sensor configured to generate an output representing forces and torques applied to said force/torque sensor,
• said surgical manipulator including at least one controller configured to:
• control operation of said surgical manipulator in a first operating mode in which a user applies forces and torques to said force/torque sensor to cause movement of the energy applicator or a second operating mode in which said surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, said calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in said second operating mode;
• determine a commanded pose to which the energy applicator is advanced in said first operating mode or said second operating mode based on said output of said force/torque sensor and said calculated forces and torques;
• monitor said output of said force/torque sensor as the energy applicator is being moved along the tool path in said second operating mode;
• determine if said output exceeds an associated limit;
• and
• transition from said second operating mode to said first operating mode to enable movement of the energy applicator in said first operating mode by adjusting said forces and torques calculated to advance and orient the surgical instrument in said second operating mode in response to said output exceeding said associated limit for a time greater than a designated time period.

A method for positioning an energy applicator extending from a surgical instrument with respect to target tissue with a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving the plurality of links, said method comprising the steps of:

• controlling operation of the surgical manipulator in a first operating mode in which a user applies forces and torques to the force/torque sensor to cause movement of the energy applicator or a second operating mode in which the surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, the calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in the second operating mode;
• determining a commanded pose to which the energy applicator is advanced in the first operating mode or the second operating mode based on output of the force/torque sensor and the calculated forces and torques;
• monitoring the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode;
• determining if the output exceeds an associated limit;
• and
• transitioning from the second operating mode to the first operating mode to enable movement of the energy applicator in the first operating mode by adjusting the forces and torques calculated to advance and orient the surgical instrument in the second operating mode in response to the output exceeding the associated limit for a time greater than a designated time period.

A robotic system for positioning an energy applicator extending from a surgical instrument with respect to target tissue, said system comprising:

• a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving said plurality of links to position the energy applicator with respect to the target tissue,
• said force/torque sensor configured to generate an output representing forces and torques applied to said force/torque sensor,
• said surgical manipulator including at least one controller configured to:
• control operation of said surgical manipulator in a manual mode in which a user applies forces and torques to said force/torque sensor to cause movement of the energy applicator or a semi-autonomous mode in which said surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, said calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in said semi-autonomous mode;
• determine a commanded pose to which the energy applicator is advanced in said manual mode or said semi-autonomous mode based on said output of said force/torque sensor and said calculated forces and torques;
• monitor said output of said force/torque sensor as the energy applicator is being moved along the tool path in said semi-autonomous mode;
• determine if said output exceeds an associated limit;
• and
• transition from said semi-autonomous mode to said manual mode to enable movement of the energy applicator in said manual mode by adjusting said forces and torques calculated to advance and orient the surgical instrument in said semi-autonomous mode in response to said output exceeding said associated limit.

A method for positioning an energy applicator extending from a surgical instrument with respect to target tissue with a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving the plurality of links, said method comprising the steps of:

• controlling operation of the surgical manipulator in a manual mode in which a user applies forces and torques to the force/torque sensor to cause movement of the energy applicator or a semi-autonomous mode in which the surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, the calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in the semi-autonomous mode;
• determining a commanded pose to which the energy applicator is advanced in the manual mode or the semi-autonomous mode based on output of the force/torque sensor and the calculated forces and torques;
• monitoring the output of the force/torque sensor as the energy applicator is being moved along the tool path in the semi-autonomous mode;
• determining if the output exceeds an associated limit;
• and
• transitioning from the semi-autonomous mode to the manual mode to enable movement of the energy applicator in the manual mode by adjusting the forces and torques calculated to advance and orient the surgical instrument in the semi-autonomous mode in response to the output exceeding the associated limit.

A robotic system for positioning an energy applicator extending from a surgical instrument with respect to target tissue, said system comprising:

• a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving said plurality of links to position the energy applicator with respect to the target tissue,
• said force/torque sensor configured to generate an output representing forces and torques applied to said force/torque sensor,
• said surgical manipulator including at least one controller configured to:
• control operation of said surgical manipulator in a first operating mode in which a user applies forces and torques to said force/torque sensor to cause movement of the energy applicator or a second operating mode in which said surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, said calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in said second operating mode;
• determine a commanded pose to which the energy applicator is advanced in said first operating mode or said second operating mode based on said output of said force/torque sensor and said calculated forces and torques;
• monitor said output of said force/torque sensor as the energy applicator is being moved along the tool path in said second operating mode;
• determine if said output exceeds an associated limit;
• and
• transition from said second operating mode to said first operating mode to enable movement of the energy applicator in said first operating mode by setting said forces and torques calculated to advance and orient the surgical instrument in said second operating mode to zero in response to said output exceeding said associated limit.

A method for positioning an energy applicator extending from a surgical instrument with respect to target tissue with a surgical manipulator having a force/torque sensor coupled to the surgical instrument, a plurality of links, and a plurality of actuators for moving the plurality of links, said method comprising the steps of:

• controlling operation of the surgical manipulator in a first operating mode in which a user applies forces and torques to the force/torque sensor to cause movement of the energy applicator or a second operating mode in which the surgical manipulator moves the energy applicator along a tool path based on calculated forces and torques, the calculated forces and torques including forces and torques calculated to advance and orient the surgical instrument in the second operating mode;
• determining a commanded pose to which the energy applicator is advanced in the first operating mode or the second operating mode based on output of the force/torque sensor and the calculated forces and torques;
• monitoring the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode;
• determining if the output exceeds an associated limit;
• transitioning from the second operating mode to the first operating mode to enable movement of the energy applicator in the first operating mode by setting the forces and torques calculated to advance and orient the surgical instrument in the second operating mode to zero in response to the output exceeding the associated limit.