Aiding risk mitigation during motion of a surgical robot

Abstract

A control system for aiding risk mitigation whilst controlling motion of a surgical robot. The control system receives an input signal from a surgeon input device at a surgeon console and sends an output signal to the surgical robot to cause motion of the surgical robot in accordance with the input signal. The control system: detects that the surgical robot has reached but not crossed a trajectory limit 501, and in response: calculates a direction or range of directions to move the surgical robot in so as to move the surgical robot away from the trajectory limit 502; transforms the calculated direction or range of directions to move the surgical robot in into a transformed direction or range of directions to move the surgeon input device in 503; and outputs an indication of the transformed direction or range of directions to the surgeon console 504. Figure 5