Surgical system with free mode registration
AssigneeMAKO Surgical Corp.
InventorsHyosig Kang, Dennis Moses, Arthur Quaid
Life of this patent
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Abstract
A method includes controlling a robotic arm extending from a base in a free mode during a registration procedure and optically tracking the base and a marker mounted on the robotic arm during movement of the robotic arm in the free mode. The movement of the robotic arm causes movement of the marker without affecting a position of the base. The method also includes defining a coordinate transformation based on a position of the base and a plurality of tracked positions of the marker achieved during the movement of the robotic arm in the free mode and controlling the robotic arm using the coordinate transformation.
Claims20
A surgical system, comprising:
- a base;
- a robotic arm extending from the base;
- a first marker mounted relative to the base;
- a second marker coupled to the robotic arm;
- a detector configured to detect the first marker and the second marker;
- and
- a computing system programmed to:
- control the robotic arm in a free mode during a registration procedure;
- and
- define a coordinate transformation of the first marker relative to a reference point on the base based on a position of the first marker detected by the detector and a plurality of positions of the second marker detected by the detector as the robotic arm is moved by a user in the free mode.
A method, comprising:
- controlling a robotic arm extending from a base in a free mode during a registration procedure,
- optically tracking a first marker coupled relative to the base and a second marker mounted on the robotic arm during movement of the robotic arm in the free mode, wherein the movement of the robotic arm causes movement of the second marker without affecting a position of the base;
- defining a coordinate transformation based on the position of the first marker and a plurality of tracked positions of the second marker achieved during the movement of the robotic arm in the free mode;
- and
- controlling the robotic arm using the coordinate transformation.
Dependencies are inferred from the claim text.