Robotic Systems And Methods For Controlling A Tool Removing Material From A Workpiece
AssigneeMAKO Surgical Corp.
InventorsJosé Luis Moctezuma de la Barrera, David Gene Bowling, Donald W. Malackowski, Patrick Roessler, Joel N. Beer
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Abstract
Robotic systems and methods for controlling a tool to remove material from a workpiece. Workpieces such as bones are often non-homogenous and have varying density distributions throughout their volumes. In some embodiments, the systems and methods control the feed rate of the tool, the tool path of the tool, and the rotational speed of the tool based on the density distribution in order to provide a desired outcome for a surgical procedure.
Claims32
A method for controlling a manipulator and a tool coupled to the manipulator to remove material from a workpiece during a procedure, said method comprising the steps of:
- determining a density distribution of the workpiece;
- tracking a position of the tool relative to the workpiece as the tool moves relative to the workpiece during the procedure;
- and
- controlling a plurality of parameters associated with the tool based on the density distribution of the workpiece and the position of the tool relative to the workpiece such that control of the tool takes into account the density distribution of the workpiece.
A robotic system comprising:
- a manipulator;
- a tool coupled to said manipulator and operable on a workpiece having a density distribution to remove material from the workpiece;
- a localizer to track a position of said tool relative to the workpiece during a procedure;
- and
- at least one controller configured to control a plurality of parameters associated with said tool based on the density distribution of the workpiece and said position of said tool relative to the workpiece.
Dependencies are inferred from the claim text.