Inventors:
John Michael Stuart - Rio Rancho NM, US
Jerry A. Culp - Kalamazoo MI, US
Donald W. Malackowski - Schoolcraft MI, US
Jose Luis Moctezuma de la Barrera - Freiburg, DE
Patrick Roessler - Merzhausen, DE
Joel N. Beer - Albuquerque NM, US
John Ketchel - Kalamazoo MI, US
International Classification:
A61B 19/00, B25J 13/00
Abstract:
A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator further includes at least one controller configured to determine a commanded pose to which the energy applicator is advanced, wherein the commanded pose is determined based on a summation of a plurality of force and torque signals.