Patent ID: 9658605
Date: 2017-05-23
CPC Classifications: A61B,G05B

Claim:
1. A method for controlling a surgical robot comprising: calculating an external force acting on a robot arm mounted with a surgical instrument, based on an actual external force acting on the robot arm, the actual external force being a constant force over time; filtering the calculated external force acting on the robot arm to calculate a filtered external force, when a central point of an incision is set, the filtering of the calculated external force acting on the robot arm including removing a deviation force from the calculated external force, the deviation force being a force enabling deviation of a remote center of motion of the surgical instrument from the central point of the incision; calculating a virtual force independently of the filtered external force, the virtual force being a force enabling the remote center of motion of the surgical instrument deviating from the central point of the incision to return to the central point of the incision; applying the calculated virtual force to the calculated filtered external force to control movement of the robot arm; and subsequent to controlling movement of the arm, wherein the calculating of the virtual force includes,