Systems and methods for guiding an instrument using haptic object with collapsing geometry
AssigneeMAKO Surgical Corp.
InventorsRadu Iorgulescu, Dennis Moses
Life of this patent
Estimating the term…
Abstract
A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.
Claims11
A computer-implemented method for guiding an instrument, comprising:
- determining, by a processor associated with a computer, a current orientation angle of an instrument axis based, at least in part, on orientation of a target axis;
- establishing, by the processor, a collapsing haptic boundary associated with the instrument based on the current orientation angle of the instrument axis, the collapsing haptic boundary configured to be modified so as to collapse as the instrument axis is brought into alignment with the target axis, and configured to constrain the instrument axis from being moved to an angle greater than the current orientation angle;
- and
- generating a control signal to constrain the instrument within the haptic boundary.
Dependencies are inferred from the claim text.