CPC A61B 34/37 (2016.02) [A61B 1/000094 (2022.02); A61B 34/74 (2016.02); A61B 34/77 (2016.02); B25J 9/1664 (2013.01); B25J 9/1694 (2013.01); B25J 13/085 (2013.01); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 2017/00973 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02); A61B 2034/742 (2016.02); A61B 2090/061 (2016.02); A61B 2090/065 (2016.02)] | 21 Claims |
15. A robotic surgical system for treating a patient, the robotic surgical system comprising:
a surgical tool;
a multi-dimensional space joint positioned about a central portion and configured to rotate about a first rotational axis, wherein the multi-dimensional space joint is configured to cause the surgical tool to move relative to the patient in response to user input forces; and
a wrist configured to define an input control for a rolling motion of the surgical tool, wherein the wrist is offset from the multi-dimensional space joint by a shaft extending along a second rotational axis that extends transverse the first rotational axis;
a second joint configured to allow a rotation of the wrist relative to a joystick of the multi-dimensional space joint about the second rotational axis; and
a control circuit configured to:
receive a first motion control signal from the multi-dimensional space joint indicative of a first user input force;
receive a second motion control signal from the multi-dimensional space joint indicative of a second user input force different than the first user input force;
cause the surgical tool to be moved at a predetermined rate of motion in response the first motion control signal; and
cause the surgical tool to be moved at the predetermined rate of motion in response the second motion control signal.
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