A control unit for a surgical robot arm determines a collision while moving to a compact sleep position. On determining a collision the control unit sets a lock condition where the arm’s joints are controlled to maintain their position. An unlocked condition can then be signalled to allow the arm to move away from the collision. When the collision issue is resolved, the control unit resets the robot arm to its sleep position. Collision is determined by sensor data received from sensors on the surgical robot arm. The collision issue may be that a tool, actuator or interface assembly 503 is still attached to the arm and hits an arm recess 502 preventing the arm fully collapsing to its compact stowed position state. The collision issue may be arm height impacting with the base cart 501 or the sterile drape may still be in place.


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    Title :

    Controlling a surgical robot arm whilst entering a sleep mode


    Publication date :

    2022-09-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English



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