Patent ID: 9737371
Date: 2017-08-22
CPC Classifications: A61B,B25J,G05B,Y10S

Claim:
1. A method comprising: receiving, from a surgical robotic system comprising a first robotic arm coupled to a first position of a surgical instrument and a second robotic arm coupled to a second position of the surgical instrument, force feedback based on a force exerted on the surgical robotic system by a user of the surgical robotic system, the first position located at a predetermined distance from the second position, wherein the first robotic arm and the second robotic arm each include a torque sensor coupled to a joint of the corresponding robotic arm; determining whether the force feedback is a slow push, a tap, a double tap, a shake, or a strong pull; selecting an action for the robotic arms based on the determination regarding the force feedback, the selected action including one or more of: translating the robotic arms, rotating the robotic arms, stowing the robotic arms, and locking the robotic arms; determining a first movement vector and a second movement vector to perform the selected action using the robotic arms; providing, to the first robotic arm, a first command to move the surgical instrument along the first movement vector; and providing, to the second robotic arm, a second command to move the surgical instrument, simultaneously with the first robotic arm such that the predetermined distance is maintained, along the second movement vector.