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METHOD FOR HANDLING A ROBOTIC SYSTEM FOR MINIMALLY INVASIVE SURGERY
WO17220844
The invention relates to a method for handling a robotic system for minimally invasive surgery, comprising: programming a position and orientation for an effector based on the movement of a haptic device, reference and modelled effector coordinates, and an estimated position of the fulcrum; obtaining articular speeds and positions in order for the robot unit to locate the next effector position and orientation; moving the effector; measuring forces and moments exerted by the effector and by a minimally invasive instrument when this movement is performed; determining the contribution to said measurement resulting from the interaction with the fulcrum point and with the internal tissue; estimating the external distance at which the fulcrum point is located relative to the modelled effector; estimating the stiffness of the tissue in contact with the instrument and calculating a simulated reaction force; sending same to the haptic device and in turn to the hand of the surgeon.
A method of controlling a remotely operated surgical robot is provided that overcomes the drawbacks identified in conventional surgical robot control methods. In particular, at least one robotic arm is controlled such that a surgical tool coupled to the robotic arm moves or is correctly oriented within the cavity defined by the incision made in the patient. In addition, the forces applied by the surgical tool are fed back to a control unit or console, to provide sensory information to the surgeon who is remotely manipulating the surgical tool, thus helping the surgeon to move the tool as if performing direct manipulation on the patient.