Method and apparatus for controlling a haptic device
AssigneeMAKO Surgical Corp.
InventorsHyosig Kang, Dennis Moses, Arthur Quaid
Life of this patent
Estimating the term…
Abstract
A method of operating a robotic surgical system includes monitoring a force applied at a surgical instrument attached to a robotic arm, comparing the force to a force threshold for a surgical procedure, providing a signal in response to the force being outside the force threshold, monitoring, using a reference array attached to a patient, a bone movement caused while the surgical instrument interacts with the patient, and adjusting control of the robotic arm based on the bone movement.
Claims18
A method of operating a robotic surgical system comprising a robotic arm, comprising:
- monitoring, using a reference array attached to a patient, a bone movement caused while a surgical instrument interacts with the patient;
- adjusting control of the robotic arm based on the bone movement;
- and
- detecting a fault condition associated with operation of the robotic surgical system;
- in response to the fault condition, changing the control of the robotic arm to a free mode in which the robotic arm is freely movable by a user while the robotic arm operates to counteract gravitational loads on the robotic arm.
A surgical robot system comprising:
- a robot base;
- a robotic arm connected to the robot base and having a distal end opposite the robot base;
- a tracking system configured to monitor movement of at least one of a first marker configured to be coupled to a patient and a second marker configured to be coupled to the robot base;
- and
- a controller programmed to switch control of the robotic arm into a free mode responsive to detecting a fault condition, wherein detecting the fault condition is based on a threshold being exceeded by one of a force at the robotic arm, a change in position of the first marker, or a change in position of the second marker;
- wherein the controller is programmed to control the robotic arm in the free mode by causing the robotic arm to counteract gravitational loads on the robotic arm while enabling the robotic arm to be freely moved by a user.
A computer-implemented method for computer-aided surgery, comprising:
- monitoring a force experienced at an electric tool attached to a robotic arm;
- shutting off power to the electric tool in response to the force being outside a force threshold and adjusting control of the robotic arm in response to the force being outside the force threshold by switching control of the robotic arm from a haptic mode to a free mode, wherein placing the robotic arm in the free mode comprises operating the robotic arm to counteract gravitational loads on the robotic arm while allowing a user to freely move the robotic arm without constraint by a haptic object used in the haptic mode;
- monitoring, using a reference array attachable to a patient, a bone movement caused while the electric tool interacts with the patient;
- and
- adjusting control of the robotic arm based on the bone movement.
Dependencies are inferred from the claim text.