Systems and methods for repairing bone with multiple tools
AssigneeMAKO Surgical Corp.
InventorsAli Zafar Abbasi, Jonathan Greenwald, Philip H. Frank
Life of this patent
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Abstract
A method for repairing a bone of a patient may include superimposing a first virtual boundary on a virtual bone and superimposing a second virtual boundary on the virtual bone. The method may further include robotically modifying the bone of the patient with a planar tool along a first working boundary to create a first surface. The first working boundary may correspond to the first virtual boundary. The method may further include robotically modifying the bone of the patient with a rotary tool along a second working boundary to create a second surface. The second working boundary may correspond to the second virtual boundary.
Claims20
A computer system for controlling a medical robotic system for preparing a bone of a patient, wherein the medical robotic system includes a power tool with planar and rotary attachments, the computer system comprising:
- an electronic storage device storing instructions for controlling the medical robotic system;
- and
- a processor configured to execute the instructions to:
- determine a first virtual boundary for the planar attachment based on received patient parameters;
- determine a second virtual boundary for the rotary attachment based on the received patient parameters;
- constrain motion of the planar attachment based on the first virtual boundary;
- and
- constrain motion of the rotary attachment based on the second virtual boundary.
A computer system for controlling a medical robotic system for preparing a bone of a patient, comprising:
- an electronic storage device storing instructions for controlling the medical robotic system;
- and
- a processor configured to execute the instructions to:
- determine a first virtual volume for a first tool based on received patient parameters, wherein the first virtual volume includes a first surface;
- determine a second virtual volume for a second tool based on the received patient parameters, wherein the first tool is different than the second tool, wherein the second virtual volume includes a second surface, and wherein the second surface is offset from the first surface;
- and
- constrain motion of the medical robotic system based on the first virtual volume and the second virtual volume;
- wherein the first tool and the second tool are attached to the same power tool mounted on an end of a robot arm.
A computer system for controlling a medical robotic system for preparing a bone of a patient, comprising:
- an electronic storage device storing instructions for controlling the medical robotic system;
- and
- a processor configured to execute the instructions to:
- determine a first virtual volume for a first tool based on received patient parameters, wherein the first tool is an oscillating planar tool;
- determine a second virtual volume for a second tool based on the received patient parameters, wherein the second tool is a reciprocating planar tool;
- and
- constrain motion of the first tool based on the first virtual volume;
- and
- constrain motion of the second tool based on the second virtual volume;
- wherein the first tool and the second tool are attached to the same power tool mounted on an end of a robot arm.
Dependencies are inferred from the claim text.