Patent ID: 8554368
Filing Date: 2013-10-08
Classification: A61B,B25J,G05B

Abstract:
1. A method for controlling movement of a robotic arm of a medical robot system, the robotic arm operatively associated with a tool, the medical robot system comprising: a medical robot under operator control having at least one robotic arm, a camera configured to provide an image of the tool, and a reference structure having a fixed orientation relative to the camera, the method comprising: a. receiving an input value from a controller device representative of a desired motion of the tool, wherein the input value is expressed in a controller device coordinate system; b. determining a calculated motion of the tool based on the input value, c. determining a commanded motion of the robotic arm based on the calculated motion and the position of the robotic arm; and d. outputting an actuation signal to move the robotic arm in accordance with the commanded motion.