Apparatus and method for providing an adjustable positive stop in space
AssigneeMAKO Surgical Corp.
InventorHyosig Kang
Life of this patent
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Abstract
An apparatus for providing haptic guidance during manipulation of an end-effector includes a robotic arm. The robotic arm has at least one actuated joint, at least one other joint connected to the at least one actuated joint, and a physical constraint movable by actuation of the at least one actuated joint. The physical constraint limits the motion of the at least one other joint in at least one direction. The apparatus further includes an end-effector configured to be manipulated by an application of external forces and connected to the at least one other joint.
Claims20
An apparatus, comprising:
- at least one actuated joint,
- at least one passive joint connected to the at least one actuated joint,
- a physical constraint movable by actuation of the at least one actuated joint, and
- a cutting tool connected to the at least one passive joint and moveable relative to the physical constraint by physical manipulation of the cutting tool by a user;
- wherein the physical constraint is configured to provide haptic feedback to the user during the physical manipulation of the cutting tool by limiting a range of motion of the passive joint in at least one direction.
A method for controlling a user's movements of an end-effector, comprising:
- receiving a user-applied force on the end-effector of a robotic arm causing motion at joints of the robotic arm;
- determining a current position of the end-effector relative to an anatomy of a patient;
- comparing a current position of the end-effector to a predetermined location defined relative to the anatomy;
- and
- controlling a position of a physical constraint based on the comparison between the current position of the end-effector and the predetermined location, wherein the physical constraint is configured to constrain movement of the end-effector resulting from the user-applied force by limiting a range of motion of a passive joint coupled between the end effector and the physical constraint.
A system for providing feedback, comprising:
- a passive joint movable about an axis;
- an end-effector coupled to the passive joint and configured to be manipulated by an application of external forces on the end-effector;
- and
- a physical constraint selectively driven about the axis to limit a range of motion of the passive joint in at least one direction to constrain movement of the end-effector as the end-effector is moved relative to the physical constraint by user manipulation of the end-effector.
Dependencies are inferred from the claim text.