Neural monitor-based dynamic boundaries
AssigneeMAKO Surgical Corp.
InventorsChris Alan Lightcap, Hyosig Kang, Arthur E. Quaid, III, Rony Abovitz
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Abstract
A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic aim. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic aim resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.
Claims9
1-25. (canceled)
A computer-implemented method for controlling a surgical system, the method comprising:
- generating a virtual boundary associated with an anatomy of a patient, based upon a surgical plan;
- receiving, from a neural monitor, a signal indicative of a distance between a surgical tool connected to a robotic device and a portion of a patient's anatomy;
- determining a neural monitor gain based on the signal received from the neural monitor;
- generating a first force value based on the neural monitor gain;
- and
- generating a robotic control based upon the first force value and a relationship between the surgical tool and the virtual boundary.
A computer-assisted surgery system comprising:
- a robotic arm including a surgical tool;
- a processor communicatively connected to the robotic arm and configured to:
- generate a virtual boundary associated with an anatomy of a patient, based upon a surgical plan;
- receiving, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy;
- determining a neural monitor gain based on the signal received from the neural monitor;
- generating a first force value based on the neural monitor gain;
- and
- generating a robotic control based upon the first force value and a relationship between the surgical tool and the virtual boundary.
Dependencies are inferred from the claim text.