Robotic surgical system with recovery alignment
AssigneeMAKO Surgical Corp.
InventorsAbdullah Abbasi, Amar Bhatt, Andrei Danilchenko
Life of this patent
Estimating the term…
Abstract
A method of operation of a robotically-assisted surgical system includes defining a virtual geometry associated with a planned resection, determining a first pose of a surgical tool, defining a target orientation for the surgical tool based on the first pose, controlling a robotic device to automatically move the surgical tool to both the virtual geometry and the target orientation
Claims19
A method of operation of a robotically-assisted surgical system, comprising:
- defining a virtual geometry associated with a planned resection;
- determining a first pose of a surgical tool in response to an interruption of performance of the planned resection;
- intraoperatively defining a target orientation for the surgical tool on using the first pose such that the target orientation corresponds to an angle of the surgical tool in the virtual geometry at the interruption;
- controlling a robotic device to automatically move the surgical tool to both the virtual geometry and the target orientation.
A surgical system comprising:
- a robotic device;
- a surgical tool coupled to the robotic device;
- a controller configured to:
- define a plane for performing a cut of a bone;
- control the robotic device to allow manual movement of the surgical tool in the plane while the surgical tool is used to perform the cut of the bone;
- detect an interruption of performance of the cut;
- determine a last angular orientation of the surgical tool in the plane before occurrence of the interruption;
- and
- control the robotic device to automatically realign the surgical tool to both the plane and the last angular orientation of the surgical tool.
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:
- defining a virtual geometry relative to an anatomical feature;
- controlling a robotic device coupled to a tool to guide the tool with the virtual geometry;
- detecting a deviation of the tool from the virtual geometry;
- controlling the robotic device to automatically move the tool to a first position having a first distance from the anatomical feature if the deviation exceeds a threshold;
- and
- controlling the robotic device to automatically move the tool to a second position having a second distance from the anatomical feature if the deviation is less than the threshold.
Dependencies are inferred from the claim text.