Patent ID: 6493608
Filing Date: 2002-12-10
Classification: A61B,B25J,G05B,H04N

Abstract:
A surgical method including:generating a desired surgical instrument movement command signal comprising a desired surgical instrument velocity signal relative to a coordinate reference system; comparing the desired surgical instrument movement command signal with at least one preset surgical instrument movement limitation; restricting the desired surgical instrument movement command signal to yield a restricted surgical instrument movement command signal in response to the desired surgical instrument movement command signal transgressing the preset surgical instrument movement limitation; moving a surgical instrument in response to the restricted surgical instrument movement command signal; and, transforming the desired surgical instrument velocity signal relative to the coordinate reference system to a corresponding signal in joint space by employing a conversion relationship, while limiting the desired surgical instrument velocity signal to account for at least one singularity, the conversion relationship including at least one term corresponding to the singularity; and, modifying the term by replacing it with an appropriate function including that term.