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US 12,383,344 B2Granted
Surgical system with occlusion detection
AssigneeMAKO Surgical Corp.
InventorsHyosig Kang, Dennis Moses, Arthur Quaid
Life of this patent
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Abstract
A method includes controlling a robotic system using a virtual boundary and based on optical tracking of a tracker, detecting a condition in which an optical detection device is occluded from detecting the tracker, and maintaining the virtual boundary if the condition persists for shorter than a predetermined period of time.
Claims15
A surgical system, comprising
- a surgical tool configured to interact with an anatomy;
- a robotic system coupled to the surgical tool;
- a tracking system comprising:
- a tracker coupled to the robotic system, the surgical tool, or the anatomy;
- and
- an optical detection device that is configured to detect the tracker;
- and
- a computing system that:
- controls the robotic system using a virtual boundary;
- detects existence of a condition wherein the optical detection device is occluded from detecting the tracker;
- maintains the virtual boundary in response to the condition ceasing to exist before expiration of a predetermined period of time;
- places the robotic system in a free mode in response to the condition persisting for at least the predetermined period of time;
- and
- generates a fault signal in response to a determination that a movement of the tracker violates a limit.
11 more elements
A method, comprising:
- controlling a robotic system using a virtual boundary and based on optical tracking of a tracker;
- detecting a condition in which an optical detection device is occluded from detecting the tracker;
- maintaining the virtual boundary in response to the condition persisting for shorter than a predetermined period of time;
- and
- providing an audible alert during the predetermined period of time in response to the condition.
2 more elements
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:
- controlling a robotic system using a virtual boundary and based on optical tracking of a tracker;
- determining existence of a condition in which an optical detection device is occluded from detecting the tracker;
- disabling a tool in response to existence of the condition and re-enabling the tool in response to the condition ceasing to exist before expiration of a predetermined period of time;
- maintaining the virtual boundary in response to the condition ceasing to exist before expiration of the predetermined period of time;
- and
- generating a fault signal in response to a determination that a movement of the tracker violates a limit.
3 more elements
Dependencies are inferred from the claim text.