Covidien LP

Deutsches Zentrum Fur Luft-und Raumfahrt E.v.

Andreas Tobergte

William J Peine

Ulrich Hagn

Ulrich Seibold

Stefan Joerg

Paul M Loschak

Robert Haslinger

Walter Schoen

Georg Passig

Srilalitha Kumaresan

Tom Baker

The surgical robotic system includes a robotic arm having one or more joints, each having a motor and at least one torque sensor and a velocity sensor. The system also includes a main controller, which outputs a drive command to the motor thereby actuating the motor. The system further includes a safety observer, which receives a measured velocity of the motor from the sensor, calculates an observed velocity, and detects a failure in operation of the at least one joint based on the observed velocity and the measured velocity.

Real time monitoring of a robotic drive module

A surgical robotic system includes: a control tower including a first controller configured to detect a first error associated with the control tower and having a first error handler configured to generate a first error signal based on the first error. The system includes a console coupled to the control tower and including a display, a user input device configured to generate user input, and a mobile cart coupled to the control tower and having a second controller configured to detect a second error associated with the mobile cart and a second error handler configured to generate a second error signal based on the second error. The system includes a robotic arm disposed on the mobile cart and including: a surgical instrument configured to treat tissue and actuatable in response to the user input; and a third controller configured to detect a third error associated with the surgical robotic arm and having a third error handler configured to generate a third error signal based on the third error.

System and method for error handling in a surgical robotic system

A surgical robotic arm includes a first link; a second link coupled to the first link at a first joint such that at least one of the first link or the second link is movable relative to each other; and a first actuator configured to move at least one of the first link or the second link. The surgical robotic arm also includes a joint torque sensor disposed within the first joint and configured to measure torque imparted on at least one of the first link or the second link to obtain a measured torque value. The surgical robotic arm further includes a controller configured to: determine an estimated joint torque value; compare the estimated joint torque value to the measured torque value; and determine an environmental torque value based on a comparison of the estimated joint torque value and the measured torque value.

System and apparatus for external torque observation and compensation for surgical robotic arm

The input apparatus () for medical minimally invasive robots or medical simulators consists of at least one handheld device () having a first operating part () and a second operating part (), wherein the first and second operating parts () are connected to one another via a pivot joint (), a measuring system () having one or more sensors for determining an angle between the first and second operating parts (), for contactlessly detecting the spatial position of the handheld device and for contactlessly detecting the orientation of the handheld device, and a computer unit () which can be connected to the handheld device () via a data link.

Input apparatus for medical minimally invasive robots or medical simulators and medical device having an input apparatus

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Munich, Germany

Andreas Tobergte