# US 11,999,065 B2 · Robotic surgical system with motorized movement to a starting pose for a registration or calibration routine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,065 B2 - Document ID: US11999065B2 - Status: Granted - Kind: B2 - Application number: 17/513,324 - Filed: 2021-10-28 - Published: 2022-05-05 - Granted: 2024-06-04 - Earliest claimed: 2020-10-30 - Assignees: MAKO Surgical Corp. - Applicants: MAKO Surgical Corp. - Inventors: Zhifu You; Steve Polomski; Curtis McClarin; Jason Otto; Abdullah Abbasi - Web page: https://patentgrep.com/patent/US11999065B2 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - A61B 17/142: {with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/25: {User interfaces for surgical systems} - A61B 34/30: Surgical robots - A61B 34/32: operating autonomously - B25J 9/1689: {Teleoperation} - B25J 9/1692: {Calibration of manipulator} - G05B 15/02: electric - G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture - G16H 40/67: for remote operation - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/108: {Computer aided selection or customisation of medical implants or cutting guides} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2059: {Mechanical position encoders} - A61B 2034/2068: {using pointers, e.g. pointers having reference marks for determining coordinates of body points} - A61B 2034/252: {indicating steps of a surgical procedure} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA ## Abstract A surgical system includes a robotic arm extending from a base, a tracking system configured to track at least one of a first marker attached to a distal end of the robotic arm and a second marker attached to the base, and a controller. The controller is configured to obtain an indication that the base is in position for performing a surgical operation, determine a starting pose for a registration routine for the robotic arm, control the robotic arm to automatically move to the starting pose for the registration or calibration routine, and in response to successful automatic movement to the starting pose for the registration or calibration routine, perform the registration or calibration routine for the robotic arm. ## Claims ### Claim 1 A surgical system comprising: a robotic arm extending from a base; a tracking system configured to track at least one of a first marker attached to a distal end of the robotic arm and a second marker attached to the base; a controller configured to: in response to the robotic arm entering an approach area, provide an option to initiate automatic movement to a starting pose for a registration or calibration routine for the robotic arm; in response to selection of the option, control the robotic arm to automatically move to the starting pose for the registration or calibration routine; and in response to successful automatic movement to the starting pose for the registration or calibration routine, perform the registration or calibration routine for the robotic arm. ### Claim 2 (depends on 1) The surgical system of claim 1, wherein the robotic arm is configured to be manually moved into the approach area, and wherein the starting pose for the registration or calibration routine is spaced apart from a patient. ### Claim 3 (depends on 1) The surgical system of claim 1, further comprising a display screen and an input device, wherein the controller is configured: cause the display screen to display a first graphic instructing a user to move the robotic arm into the approach area; in response to the robotic arm entering the approach area, cause the display screen to display a second graphic instructing the user to engage the input device to select the option to initiate the automatic movement. ### Claim 4 (depends on 1) The surgical system of claim 1, wherein the controller is configured to control the robotic arm to automatically move to the starting pose for the registration or calibration routine by: providing the automatic movement if an input device of the robotic device is activated; and stopping the automatic movement if the input device is not activated. ### Claim 5 (depends on 4) The surgical system of claim 4, wherein the input device is a trigger positioned at a distal end of the robotic arm. ### Claim 6 (depends on 1) The surgical system of claim 1, comprising the first marker attached to the distal end of the robotic arm and the second marker attached to the base; wherein the registration or calibration routine provides registration of the distal end of the robotic arm relative to the marker attached to the base based on data from the tracking system indicating tracked positions of the marker attached to the distal end of the robotic device. ### Claim 7 (depends on 1) The surgical system of claim 1, wherein the controller is configured to determine, prior to the automatic movement of the robotic arm to the starting pose for the registration or calibration routine, the starting pose for the registration or calibration routine based on an expected position of a surgical field relative to the base. ### Claim 8 A method of controlling a robotic arm mounted on a movable base, comprising: in response to the robotic arm entering an approach area, providing an option to initiated automatic movement to a starting pose for a registration or calibration routine for the robotic arm; in response to selection of the option, controlling the robotic arm to automatically move to the starting pose for the registration or calibration routine; and in response to successful automatic movement to the starting pose for the registration or calibration routine, providing the registration or calibration routine for the robotic arm. ### Claim 9 (depends on 8) The method of claim 8, further comprising allowing the robotic arm to be manually moved into the approach area, wherein the approach area and the starting pose for the registration or calibration routine are spaced apart from a patient. ### Claim 10 (depends on 9) The method of claim 9, further comprising: displaying, via display screen, a first graphic instructing a user to move the robotic arm into the approach area; and in response to the robotic arm entering the approach area, displaying, via the display screen to display a second graphic instructing the user to activate an input device to initiate the automatic movement. ### Claim 11 (depends on 10) The method of claim 10, wherein controlling the robotic arm to automatically move to the starting pose for the registration or calibration routine in response to selection of the option comprises: providing the automatic movement if the input device of the robotic device is activated; and stopping the automatic movement if the input device is not activated. ### Claim 12 (depends on 8) The method of claim 8, wherein providing the registration or calibration routine comprises tracking, with the tracking system, a first marker attached to the distal end of the robotic arm relative to a second marker attached to the base while the distal end of the robotic arm completes movements of the registration or calibration routine, wherein the movements of the registration or calibration routine comprise automated movements or manual movements. ### Claim 13 (depends on 8) The method of claim 8, wherein the registration or calibration routine is configured to register the distal end of the robotic arm relative to a base tracking array attached to the base such that a position of the distal end of the robotic arm can be defined based on a tracked position of the base tracking array collected by the tracking system and angles of joints of the robotic arm. ### Claim 14 (depends on 8) The method of claim 8, wherein determining the starting pose comprises calculating, prior to the automatic movement of the robotic arm to the starting pose for the registration or calibration routine, the starting pose based on a position of the movable base. ### Claim 15 One or more non-transitory computer-readable media storing program instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: in response to a robotic arm entering an approach area, providing an option to initiate automatic movement to a starting pose for a registration or calibration routine for a robotic arm; in response to selection of the option, controlling the robotic arm to automatically move the robotic arm to the starting pose; and in response to successful automatic movement to the starting pose for the registration or calibration routine, providing the registration or calibration routine for the robotic arm. ### Claim 16 (depends on 15) The non-transitory computer-readable media of claim 15, wherein the starting pose for the registration or calibration routine is spaced apart from a patient. ### Claim 17 (depends on 16) The non-transitory computer-readable media of claim 16, the operations further comprising: causing a display screen to display a first graphic instructing a user to move the robotic arm into the approach area; and in response to the robotic arm entering the approach area, causing the display screen to display a second graphic instructing the user to engage an input device to initiate the automatic movement. ### Claim 18 (depends on 15) The non-transitory computer-readable media of claim 15, wherein controlling the robotic arm to automatically move to the starting pose for the registration or calibration routine comprises: receiving a signal indicative of whether an input device of the robotic device is being engaged by a user; providing the automatic movement if an input device of the robotic device is being engaged by the user; and stopping the automatic movement if the input device is not being engaged by the user. ### Claim 19 (depends on 15) The non-transitory computer-readable media of claim 15, wherein providing the registration or calibration routine comprises obtaining tracked positions of a first marker attached to the distal end of the robotic arm relative to a second marker attached to the base while the distal end of the robotic arm completes movements of the registration or calibration routine. ### Claim 20 (depends on 15) The non-transitory computer-readable media of claim 15, wherein determining the starting pose comprises calculating, prior to the automatic movement, the starting pose based on the position of the base.