Control System For A Surgical Robotic System

Abstract: A control system and a method for controlling a surgical robotic system are provided. The surgical robotic system comprises a surgical robot arm. The surgical robot arm comprises a plurality of joints by which its configuration can be altered. An input is received which indicates a desired motion of the surgical robot arm when the surgical robotic system is operating in a mode in which the surgical robot arm is controlled in accordance with an objective. The objective is to control a particular part of the surgical robot arm to have a desired position and/or orientation. The control system determines that the desired motion of the surgical robot arm would cause a limit to be exceeded. In response to determining that the desired motion of the surgical robot arm would cause the limit to be exceeded, a control signal is generated for controlling the surgical robot arm, and the generated control signal is sent to the surgical robot arm in order to control the surgical robot arm. The control signal is generated, in response to determining that the desired motion of the surgical robot arm would cause the limit to be exceeded, such that: (i) movement of a first set of one or more of the joints of the surgical robot arm is restricted, and (ii) movement of a second set of one or more of the joints of the surgical robot arm is not restricted.

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