The various embodiments herein relate to robotic surgical systems and devices that use force and/or torque sensors to measure forces applied at various components of the system or device. Certain implementations include robotic surgical devices having one or more force/torque sensors that detect or measure one or more forces applied at or on one or more arms. Other embodiments relate to systems having a robotic surgical device that has one or more sensors and an external controller that has one or more motors such that the sensors transmit information that is used at the controller to actuate the motors to provide haptic feedback to a user.

A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

A person support apparatus includes one or more motorized actuators that are braked in different manners depending upon whether or not electrical power is available to the control system. When electrical power is not available, a delay circuit delays closing a first switch that, when closed, short circuits the terminals of one of the motors. When power is available, other switches are opened and closed in a manner that short circuits the terminals of the motor while the first switch remains open. The other switches may be part of an H-bridge. The control system may also detect back emf (electromotive force) generated by the motor when electrical power is available and issue a notification to a technician or other user if an amplitude and/or duration of the detected back emf exceeds a threshold.

A method and apparatus for controlling a robot is provided. In this robot, direct teaching can be performed while updating a position command on the basis of an applied external force. In the method and apparatus, a proximity region is set inside a boundary of an operation-allowed range of the robot, the proximity region being indicative of a proximity of the boundary. Stored is an external force applied when a monitoring point provided in the robot reaches the proximity region as a reference external force. And performed is comparing the reference external force with a current external force when a current position of the monitoring point is in the proximity region, to thereby determine a direction that facilitates movement away from the proximity region.

A person support apparatus includes one or more motorized actuators that are braked in different manners depending upon whether or not electrical power is available to the control system. When electrical power is not available, a delay circuit delays closing a first switch that, when closed, short circuits the terminals of one of the motors. When power is available, other switches are opened and closed in a manner that short circuits the terminals of the motor while the first switch remains open. The other switches may be part of an H-bridge. The control system may also detect back emf (electromotive force) generated by the motor when electrical power is available and issue a notification to a technician or other user if an amplitude and/or duration of the detected back emf exceeds a threshold.

An industrial robot having a manipulator and a robot controller configured to control the motions of the manipulator. The robot controller is configured during lead-through programming of the robot to compare a robot position or a robot orientation (TCP) with at least one virtual position or virtual orientation defined in space, and to actively control the motions of the robot in relation to the at least one virtual position or virtual orientation when the difference between the robot position or robot orientation and the least one virtual position or virtual orientation is smaller than an offset value.

A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.

An apparatus for providing haptic guidance during manipulation of an end-effector includes a robotic arm. The robotic arm has at least one actuated joint, at least one other joint connected to the at least one actuated joint, and a physical constraint movable by actuation of the at least one actuated joint. The physical constraint limits the motion of the at least one other joint in at least one direction. The apparatus further includes an end-effector configured to be manipulated by an application of external forces and connected to the at least one other joint.

A method includes obtaining an implant plan, defining a range of motion for a surgical tool based on the implant plan, adjusting, by an actuator and based on the range of motion, a passive joint coupled between the actuator and the surgical tool, and allowing manual movement of the surgical tool through the range of motion via rotation at the passive joint.

An augmented reality device includes a processing unit adapted to process data, and a display unit with a field of view, which is adapted to display a control, control components and first connections between the control components as an extended real image, The control receives sensor data from at least one sensor and transmits actuator signals to at least one actuator of an industrial plant. The processing unit processes from the data a model of the industrial plant with the control, the sensor, the actuator and second connections as plant components, and processes position data of the plant components into the model. The position data of the display unit can be transmitted to the processing unit as GPS data by means of satellites or local position data by means of local sensors, and the processing unit processes the position data of the display unit into the model.