Patent ID: 9561082
Date: 2017-02-07
CPC Classifications: A61B,B25J,G05B

Claim:
1. A handheld robot for orthopedic surgery, comprising: a main body; a grip, connected to the main body; a kinematic mechanism connected to the main body; a tool connector connected to the kinematic mechanism; a tool connected to the tool connector; and a force sensor configured to measure a deviation force, a deviation torque, or a combination thereof that deviates the tool from a predetermined range, a predetermined path or a combination thereof, wherein the kinematic mechanism is capable to adjust at least one of the position and the orientation of the tool based on the measured deviation force, the measured deviation torque, or the combination thereof; and a controller programmed to receive an operation plan with the predetermined range, the predetermined path, or the combination thereof, control the force sensor to measure the deviation force, the deviation torque, or the combination thereof and control the kinematic mechanism to adjust at least one of the position and the orientation of the tool based on the measured deviation force, the measured deviation torque, or the combination thereof, so as to keep the tool within the predetermined range, the predetermined path, or the combination thereof, of the received operation plan.