Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
AssigneeMAKO Surgical Corp.
InventorsDouglas Alan Staunton, Paul Hoekstra, Michael Dale Dozeman
Life of this patent
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Abstract
A surgical system and method of operating the same. A manipulator supports and facilitates movement of a surgical tool along a tool path relative to a surgical site. Controller(s) determine commanded states and actual states of the surgical tool relative to the tool path for a plurality of time steps. The controller(s) detect at least one deviation between the commanded states and the actual states of the surgical tool for at least one of the plurality of time steps. The controller(s) respond to the deviation by modification of one or both of: a feed rate of the surgical tool; and the tool path.
Claims20
A surgical system comprising:
- a manipulator configured to support and facilitate movement of a surgical tool along a tool path relative to a surgical site;
- and
- one or more controllers coupled to the manipulator and being configured to:
- determine commanded states of the surgical tool and actual states of the surgical tool relative to the tool path for a plurality of time steps;
- detect at least one deviation between the commanded states and the actual states of the surgical tool for at least one of the plurality of time steps;
- and
- respond to the at least one deviation by modification of one or both of:
- a feed rate of the surgical tool;
- and the tool path.
A method of operating a surgical system, the surgical system including a manipulator to support and facilitate movement of a surgical tool along a tool path relative to a surgical site, and one or more controllers coupled to the manipulator, the method comprising the one or more controllers:
- determining commanded states of the surgical tool and actual states of the surgical tool relative to the tool path for a plurality of time steps;
- detecting at least one deviation between the commanded states and the actual states of the surgical tool for at least one of the plurality of time steps;
- and
- responding to the at least one deviation by modifying one or both of:
- a feed rate of the surgical tool;
- and the tool path.
Dependencies are inferred from the claim text.