Patent ID: 8944070
Filing Date: 2015-02-03
Classification: A61B,G16H

Abstract:
1. A method for providing force information to a user of a telesurgical system, wherein the telesurgical system includes a tool, a slave manipulator having a plurality of joints for manipulating the tool, a master manipulator, and a first closed-loop control system for driving a first joint of the plurality of joints in response to manipulation of the master manipulator by a user, the method comprising: processing at least a first value at a first node in the first closed-loop control system to generate force information indicative of a force being exerted against the tool, wherein the processing includes at least one of multiplying the first value by a first gain and passing the first value through a first filter, wherein the force being exerted against the tool results in a reflected force being applied to the master manipulator through at least the first closed-loop control system; and providing the force information to the user of the telesurgical system in a non-tactile sensory manner so as to be detectable by the user, wherein the providing is initiated upon the force being exerted against the tool being greater than a first threshold value, and wherein the first threshold value corresponds to a reflected force that is less than a minimum force level which is tactilely detectable on the master manipulator by the user.