Surgical guidance system and method
AssigneeMAKO Surgical Corp.
InventorsArthur Quaid, Hyosig Kang, Dennis Moses, Rony Abovitz, Scott Illsley
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Abstract
A surgical system includes a surgical device, a surgical tool coupled to the surgical device, a user interface, and a control system. The control system is configured to identify a target point or target region of an anatomy of a patient, generate a virtual object based on the target point or target region, the virtual object comprising a funnel-shaped boundary having a central axis substantially aligned with the target point or target region, and control the surgical device to constrain the surgical tool from penetrating the funnel-shaped boundary.
Claims31
A surgical system, comprising:
- a surgical device;
- a surgical tool coupled to the surgical device;
- a user interface;
- and
- a control system configured to:
- identify a target point or target region of an anatomy of a patient;
- generate a virtual object based on the target point or target region, the virtual object comprising a funnel-shaped boundary having a central axis substantially aligned with the target point or target region;
- and
- control the surgical device to constrain the surgical tool from penetrating the funnel-shaped boundary.
A surgical system, comprising:
- a surgical device;
- a surgical tool coupled to the surgical device;
- and
- a control system configured to:
- control the surgical device with admittance control to move the surgical tool in response to force input from a user at a user interface;
- control the surgical device with the admittance control to provide haptic guidance to the user based on a relationship between an anatomy of a patient and the surgical tool;
- monitor a three-dimensional position of the anatomy to detect a movement of the anatomy during a procedure;
- and
- modify the admittance control based on the movement of the anatomy.
Dependencies are inferred from the claim text.