Systems and methods for handheld robotic surgery
AssigneeMAKO Surgical Corp.
InventorsHyosig Kang, Scott Nortman
Life of this patent
Estimating the term…
Abstract
A robotic surgery system for cutting a bone of a patient includes a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone. The handheld manipulator includes a cutting tool, a handle, and an actuator coupled between the handle and the cutting tool such that the actuator is configured to move the cutting tool relative to the handle. The system also includes a controller programmed to control the actuator to compensate for both operator tremor and patient movement.
Claims16
A robotic surgery system for cutting a bone of a patient, comprising:
- a handheld manipulator configured to be manually moved relative to the bone, the handheld manipulator comprising:
- a cutting tool;
- a handle;
- and
- an actuator coupled between the handle and the cutting tool such that the actuator is configured to move the cutting tool relative to the handle;
- a mechanical tracking arm coupled to the handle and configured to be coupled to the patient so as to extend between the handheld manipulator and the patient;
- and
- a controller programmed to control the actuator to compensate for both operator tremor and patient movement.
A method for a robotic surgery system for cutting a bone of a patient, comprising:
- tracking, by a mechanical tracking arm coupled to the patient and to a handle of a handheld manipulator so as to extend between the handheld manipulator and the patient, movement of the handheld manipulator relative to the bone, wherein the handheld manipulator is configured to be manually moved relative to the bone;
- detecting an operator tremor based on the tracking;
- detecting a patient movement based on the tracking;
- and
- automatically controlling, by a controller, an actuator of the handheld manipulator to compensate for the operator tremor and the patient movement, wherein the actuator is coupled between the handle and a cutting tool of the handheld manipulator such that the actuator is configured to move the cutting tool relative to the handle.
Dependencies are inferred from the claim text.