Robotic systems and methods for controlling a tool removing material from a workpiece
AssigneeMAKO Surgical Corp.
InventorsJosé Luis Moctezuma de la Barrera, David Gene Bowling, Donald W. Malackowski, Patrick Roessler, Joel N. Beer
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Abstract
Robotic systems and methods for controlling a tool to remove material from a workpiece. Workpieces such as bones are often non-homogenous and have varying density distributions throughout their volumes. In some embodiments, the systems and methods control the feed rate of the tool, the tool path of the tool, and the rotational speed of the tool based on the density distribution in order to provide a desired outcome for a surgical procedure.
Claims21
A method for controlling a manipulator and a tool coupled to the manipulator to remove material from a workpiece during a procedure with a robotic system including a navigation computer and a manipulator controller coupled to the manipulator, said method comprising the steps of:
- determining a density distribution of the workpiece;
- generating with the navigation computer a tool path for the tool based on the determined density distribution of the workpiece with the tool path including a cutting depth;
- determining with the navigation computer the cutting depth for the tool path based on the determined density distribution of the workpiece;
- tracking with the navigation computer a position of the tool relative to the workpiece as the tool moves relative to the workpiece during the procedure;
- and
- controlling with the manipulator controller a plurality of parameters associated with the tool including a feed rate of the tool, a rotational speed of the tool, and the tool path of the tool, wherein controlling the plurality of parameters of the tool includes:
- setting the feed rate of the tool based on the density distribution, controlling the rotational speed of the tool based on the feed rate of the tool, and controlling the cutting depth of the tool based on the density distribution of the workpiece and the position of the tool relative to the workpiece such that control of the tool takes into account the density distribution of the workpiece.
A method for controlling a manipulator and a tool coupled to the manipulator to remove material from a workpiece during a procedure with a robotic system including a navigation computer and a manipulator controller coupled to the manipulator and with the workpiece comprising denser material and less dense material, said method comprising the steps of:
- determining a density distribution of the workpiece;
- tracking with the navigation computer a position of the tool relative to the workpiece as the tool moves relative to the workpiece during the procedure;
- generating with the navigation computer a tool path of the tool based on the density distribution;
- and
- controlling with the manipulator controller a plurality of parameters associated with the tool including a feed rate of the tool, a rotational speed of the tool, and the tool path of the tool, wherein controlling the plurality of parameters of the tool includes:
- setting the feed rate of the tool based on the density distribution, controlling the rotational speed of the tool based on the feed rate of the tool, and controlling movement of the tool based on the generated tool path to remove the denser material in a layer having a first thickness, and remove the less dense material in a layer having a second thickness greater than the first thickness.
A method for controlling a manipulator and a tool coupled to the manipulator to remove material from a workpiece during a procedure with a robotic system including a navigation computer and a manipulator controller coupled to the manipulator, said method comprising the steps of:
- determining a density distribution of the workpiece with the density distribution including a first density distribution and a second density distribution different than the first density distribution;
- tracking with the navigation computer a position of the tool relative to the workpiece as the tool moves relative to the workpiece during the procedure;
- generating with the navigation computer a tool path of the tool comprising a first segment of the tool path based on the first density distribution and a second segment of the tool path based on the second density distribution;
- and
- controlling with the manipulator controller a plurality of parameters associated with the tool including a feed rate of the tool, a rotational speed of the tool, and the tool path of the tool, wherein controlling the plurality of parameters of the tool includes:
- setting the feed rate of the tool based on the density distribution, controlling the rotational speed of the tool based on the feed rate of the tool, and controlling movement of the tool based on the generated tool path to remove the material of the first segment at a first cutting depth of the tool path based on the first density distribution and to remove the material of the second segment at a second cutting depth of the tool path being different than the first cutting depth and based on the second density distribution.
Dependencies are inferred from the claim text.