Control Of A Surgical Robot Arm

Abstract: A controller for moving a first part of a surgical robot arm, the surgical robot arm comprising a plurality of arm segments separated by a plurality of driven joints, in response to an external force being imparted on a second part of the surgical robot arm, the controller being configured to: determine a torque at each of the plurality of joints which results from the force imparted on the second part of the surgical robot arm; calculate from the determined torques a resultant force which acts on the first part of the surgical robot arm as a result of the external force being imparted on the second part of the surgical robot arm; calculate a desired velocity of the first part of the surgical robot arm for a time subsequent to a current time by evaluating an equation of motion modelling Coulomb and viscous frictional forces using a backward Euler approximation, the equation of motion having inputs of the calculated resultant force which acts on the first part of the surgical robot arm; and the current velocity at the current time of the first part of the surgical robot arm; and drive the surgical robot arm in accordance with the calculated desired velocity.

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