Surgical device with movement compensation

A method of operating a robotic device coupled to a surgical tool, the method comprising:

• allowing manual movement of the surgical tool along at least one direction;
• physically aligning, via operation of the robotic device, the surgical tool with a target using a control object having a planned geometric relationship with a bone;
• optically tracking movement of an array coupled to the bone during a surgical procedure;
• virtually moving the control object to compensate for the movement of the array during the surgical procedure;
• and
• physically realigning, via the operation of the robotic device, the surgical tool with the target using the moved control object, wherein the operation of the robotic device comprises generating feedback based on an interaction between a position of the surgical tool and the control object, wherein generating the feedback comprises interpolating positions for the control object to reduce jumpiness of the feedback associated with a difference in frequency of optically tracking the array and controlling the robotic device.

A surgical system, comprising:

• a surgical tool;
• a robotic system coupled to the surgical tool and programmed to:
• allow manual movement of the surgical tool along at least one direction;
• physically align the surgical tool with a target using a control object having a planned geometric relationship with a bone;
• virtually move the control object to compensate for optically-tracked movement of a trackable marker coupled to the bone during a surgical procedure;
• and
• physically realign the surgical tool with the target using the moved control object;
• wherein the robotic system is programmed to realign the surgical tool with the target using the moved control object by adjusting the moved control object is adjusted by an amount based on a product of a velocity value and a latency associated with tracking the trackable marker and comparing a position of the surgical tool with the moved control object.

A method comprising:

• providing, by a robotic device using a control object having a planned geometric relationship with a bone, physical alignment of an instrument coupled to the robotic device with a target at the bone;
• optically tracking movement of a trackable marker coupled to the anatomic feature;
• virtually moving the control object to compensate for the movement of the trackable maker based on the optically tracking the movement of the trackable marker;
• and
• providing, by the robotic device using the control object in accordance with the moving the control object, physical realignment of the instrument with the target
• wherein tracking the movement of the trackable marker comprises optically collecting a position of the trackable marker and adding an offset based on a product of a velocity of the trackable marker and a latency associated with optically collecting the position of the trackable marker.

A method, comprising:

• providing, by a robotic device using a control object having a planned geometric relationship with a bone, physical alignment of an instrument coupled to the robotic device with a target at the bone;
• optically tracking movement of a trackable marker coupled to the anatomic feature;
• virtually moving the control object to compensate for the movement of the trackable maker based on the optically tracking the movement of the trackable marker;
• and
• providing, by the robotic device using the control object in accordance with the moving the control object, physical realignment of the instrument with the target
• wherein providing the realignment comprises comparing a position of the instrument with the control object while providing an interpolation of positions of the control object, the interpolation configured to reduce jumpiness associated with a difference in frequency of the tracking the trackable marker and control operations of the robotic device.