Patent ID: 11872687
Assignee: ASENSUS SURGICAL US, INC.
Field: Medical technology (Instruments)
Classification: CPC B  A | IPC A  B

Claim 7:
8. A method of controlling a robotic arm, comprising:
manually applying a force to a body of a robotic arm;
receiving first force information from a force sensor on the robotic arm;
determining, using the first force information, whether the force is a gesture force input;
if the force is a gesture force input, initiating electromechanical movement of the manipulator arm to a predetermined pose or position;
manipulating a user input device remote from the robotic arm to generate user input, and moving the robotic arm in response to the user input to manipulate a surgical instrument within a body cavity; and
during the step of moving the robotic arm in response to the user input, receiving second force information from the force sensor and, providing haptic feedback signals to the user input device based on the second force information.