Neural monitor-based dynamic boundaries
AssigneeMAKO Surgical Corp.
InventorsChris Alan Lightcap, Hyosig Kang, Arthur E. Quaid, III, Rony Abovitz
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Abstract
A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic aim. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic aim resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.
Claims7
A computer-implemented method for controlling a surgical system, the method comprising:
- receiving, from a neural monitor, a signal indicative of a distance between a surgical tool connected to a robotic device and a portion of a patient's anatomy;
- receiving a joint angular velocity of one or more joints of the robotic device;
- determining a neural monitor gain based on the signal received from the neural monitor;
- generating a first force value based on the neural monitor gain and the joint angular velocity of the one or more joints of the robotic device;
- generating a second force value based on a relationship of a surgical tool and a virtual boundary associated with the patient's anatomy;
- and
- generating a robotic control to control the surgical system by altering movement of the robotic device based upon the first force value and the second force value.
A computer-assisted surgery system comprising:
- a robotic device including a surgical tool;
- a processor communicatively connected to the robotic device and configured to:
- receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy;
- receive a joint angular velocity of one or more joints of the robotic device;
- determine a neural monitor gain based on the signal received from the neural monitor;
- generate a first force value based on the neural monitor gain and the joint angular velocity of the one or more joints of the robotic device;
- generate a second force value based on a relationship of a surgical tool and a virtual boundary associated with the patient's anatomy;
- and
- generate a robotic control to control the surgical system by altering movement of the robotic device based upon the first force value and the second force value.
Dependencies are inferred from the claim text.