Systems and methods for haptic control of a surgical tool
AssigneeMAKO Surgical Corp.
InventorsJason Otto, Radu lorgulescu, Chris Lightcap, Brian Schmitz, Jason Wojcik, Carinne Cecile Granchi
Life of this patent
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Abstract
A surgical system includes a surgical tool associated with a virtual haptic interaction point such that movement of the virtual haptic interaction point corresponds to movement of the surgical tool. The surgical system further includes a processing circuit to establish a virtual entry boundary and activate a haptic object, which constrains the surgical tool after the haptic interaction point crosses the virtual entry boundary.
Claims28
A surgical system, comprising:
- a surgical tool associated with a virtual haptic interaction point, wherein movement of the virtual haptic interaction point corresponds to movement of the surgical tool;
- a processing circuit configured to:
- establish a virtual entry boundary;
- and
- activate a haptic object, wherein the activated haptic object is configured to constrain the surgical tool after the haptic interaction point crosses the virtual entry boundary.
A method for using a surgical system, comprising:
- providing a surgical tool;
- providing a virtual haptic interaction point, wherein movement of the virtual haptic interaction point corresponds to movement of the surgical tool;
- providing a virtual entry boundary;
- and
- activating a haptic object, wherein the activated haptic object is configured to constrain the surgical tool after the haptic interaction point crosses the virtual entry boundary.
A computer-readable storage medium having instructions thereon that, when executed by a processing circuit, aid in the planning or performance of a surgical procedure, the medium comprising:
- instructions for associating a surgical tool with a virtual haptic interaction point such that movement of the virtual haptic interaction point corresponds to movement of the surgical tool;
- instructions for establishing a virtual entry boundary and a virtual exit boundary;
- instructions for activating a haptic object, wherein the activated haptic object is configured to constrain the surgical tool after the haptic interaction point crosses the virtual entry boundary;
- and
- instructions for deactivating the haptic object after the haptic interaction point crosses the virtual exit boundary.
Dependencies are inferred from the claim text.