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1. (WO2019050878) BOUNDARY SCALING OF SURGICAL ROBOTS
유의사항: 이 문서는 자동 광학문자판독장치(OCR)로 처리된 텍스트입니다. 법률상의 용도로 사용하고자 하는 경우 PDF 버전을 사용하십시오

WHAT IS CLAIMED IS:

1. A method of scaling a desired velocity of a tool of a surgical robot with a processing unit, the method comprising:

receiving an input signal including a desired velocity of movement of a tool;

determining a position of the tool relative to a boundary of a surgical site; and

scaling the desired velocity of movement of the tool when the tool is within a predetermined distance of the boundary of the surgical site.

2. The method according to claim 1, wherein scaling the desired velocity of movement includes reducing the desired velocity of movement of the tool.

3. The method according to claim 1, wherein the boundary is a virtual boundary of the surgical site.

4. The method according to claim 1, further comprising determining a direction of movement of the tool relative to the boundary.

5. The method according to claim 0, wherein scaling the desired velocity of movement of the tool only occurs when the direction of movement of the tool is towards the boundary.

6. The method according to claim 1, wherein scaling the desired velocity of movement of the tool includes applying a velocity scaling factor to the desired velocity of movement.

7. The method according to claim 0, further comprising determining the velocity scaling factor as a function of the determined position of the tool relative to the boundary.

8. The method according to claim 0, wherein determining the velocity scaling factor includes the velocity scaling factor being one when the determined position of the tool relative to the boundary is beyond a predetermined distance.

9. The method according to claim 0, wherein determining the velocity scaling factor as the function of the determined position of the tool includes reducing the scaling factor from one towards a minimum value when the determined position of the tool relative to the boundary is below a predetermined distance.

10. The method according to claim 0, wherein the minimum value of the velocity scaling factor is non-zero.

11. The method according to claim 1, further comprising generating control signals after scaling the desired velocity of movement of the tool.

12. The method according to claim 0, further comprising transmitting the control signals to a surgical robot.

13. The method according to claim 1 , further comprising transmitting feedback control signals to a user console when scaling the desired velocity of movement of the tool.