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

Claim 0:
1. A surgical robotic system, comprising:
a robotic manipulator arm configured for robotic positioning of a surgical instrument in a body cavity, the robotic manipulator arm including at least one force sensor;
at least one user input device remote from the robotic arm;
a robotic system controller responsive to input from the user input device to move the robotic manipulator during a surgical procedure; and
a processor;
wherein the force sensor is positioned to generate first force signals in response to gesture force input applied directly by a user to the body of the robotic manipulator and the robotic system controller is further responsive to said first force signals to cause movement of the manipulator arm to a predetermined pose or position; and
wherein the force sensor is positioned to generate second force signals in response to forces exerted on the surgical instrument during movement of the surgical instrument in a body cavity, and wherein the processor is configured to provide haptic feedback signals to the user input device based on the second force signals during a surgical procedure.