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US 11,076,918 B2Granted
Robotically-assisted constraint mechanism
AssigneeMAKO Surgical Corp.
InventorArthur E. Quaid, III
Life of this patent
Estimating the term…
Abstract
A surgical system includes a robotic arm, a constraint mechanism coupled to the robotic arm, and a computer system configured to control the robotic arm to constrain manual movement of the constraint mechanism to a plane. The computer system is also configured to control the robotic arm to lock the constraint mechanism in a desired pose when the constraint mechanism is moved to the desired pose via manual movement in the plane.
Claims20
A surgical system, comprising:
- a foot pedal;
- a touchscreen;
- a robotic arm;
- a constraint mechanism coupled to the robotic arm;
- and
- a computer system configured to:
- control the robotic arm to constrain manual movement of the constraint mechanism to a plane;
- and
- control the robotic arm to lock the constraint mechanism in a desired pose in response to the constraint mechanism moving to the desired pose via constrained manual movement in the plane and occurrence of both a user interacting with the foot pedal and the user providing input via the touchscreen.
6 more elements
A computer-assisted surgery system, comprising:
- a processor;
- storage media coupled to the processor and storing instructions executable by the processor to cause the processor to perform operations comprising:
- controlling a robotic arm to counteract an effect of gravity on a constraint mechanism coupled to the robotic arm while allowing manual movement of the constraint mechanism;
- and
- controlling the robotic arm to constrain the manual movement to a plane;
- and
- controlling the robotic arm to lock the constraint mechanism in a desired pose in response to the constraint mechanism moving to the desired pose and occurrence of both a user interacting with a foot pedal and the user providing input via a touchscreen.
4 more elements
A method of operating a computer-assisted surgery system, comprising:
- planning a bone resection to obtain a plane defined in relation to a position of an anatomical feature;
- controlling mobility of a constraint mechanism mounted on a robotic arm by:
- causing the robotic arm to limit manual movement of the constraint mechanism to the plane;
- and
- manually manipulating the robotic arm to translate the constraint mechanism along the plane to a desired pose;
- and
- causing the robotic arm to lock the constraint mechanism at the desired pose in response to the constraint mechanism moving to the desired pose via manual movement in the plane and the occurrence of a plurality of satisfaction indicators comprising two or more of a user interacting with a button, the user interacting with a foot pedal, the user interacting with a keyboard, the user interacting with a mouse, or the user providing input via a touch screen.
4 more elements
Dependencies are inferred from the claim text.