Patent ID: 11890067
Assignee: SYNAPTIVE MEDICAL INC.
Field: Medical technology (Instruments)
Classification: CPC A  B  F | IPC A  B  F

Claim 0:
1. A motion-assisted positioning arm for a medical procedure, the positioning arm comprising:
a base;
an arm configured to couple with the base, the arm having a first arm end and a second arm end, and the arm comprising:
a plurality of arm segments extending from the first arm end to the second arm end;
a plurality of joints, each joint of the plurality of joints configured to couple each arm segment with another arm segment; and
an end effector configured to couple with the second arm end, wherein the end effector is manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint of the plurality of joints;

a processor operably coupled with the plurality of joints and the end effector, the processor configured by processor-readable instructions storable in relation to a memory to:
determine a memory mode for returning the end effector to a saved position by constraining movement of the end effector in the task-coordinate space;
determine a surgical mode for constraining movement of the end effector in the task-coordinate space, the surgical mode defining an updated end effector position in the task-coordinate space;
determine an end effector velocity based on the memory mode, the surgical mode, at least one of forces and torques on the end effector, and at least one of a subset of the forces and a subset of torques on the end effector while disregarding at least one of remaining forces and remaining torques on the end effector; and
instruct movement in space of at least one joint of the plurality of joints based on the end effector velocity.