Robotically Controlled Water Jet Cutting
AssigneeMAKO Surgical Corp.
InventorsGokce Yildirim, Justin Joseph Gerges
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Abstract
A cutting system includes a material removal tool having a fluid nozzle with an adjustable diameter, a workpiece including a target shape for removal, and a controller operable to adjust the diameter of the nozzle to vary fluid flow and control an amount of material removed by the material removal tool. The controller is adapted to adjust the nozzle to vary the fluid flow based on a position of the nozzle and workpiece data preoperatively obtained from the workpiece via a continuous feedback loop. A method of cutting a bone is also provided.
Claims20
A surgical cutting system comprising:
- a material removal tool including a nozzle having an adjustable diameter,
- a registered workpiece including a target tissue shape for removal;
- and
- a controller operable to adjust the diameter of the nozzle to vary fluid flow and control an amount of tissue removed by the material removal tool,
- wherein the controller is adapted to adjust the nozzle diameter based on a position of the nozzle and workpiece data preoperatively obtained from the workpiece via a continuous feedback loop.
A method of cutting tissue comprising:
- obtaining tissue quality data;
- operating a material removal tool including a nozzle having an adjustable diameter, the material removal tool coupled to a robotic arm via an instrument drive mechanism;
- and
- controlling the diameter of the nozzle to vary fluid flow based on a position of the nozzle and the obtained tissue quality data via a continuous feedback loop.
Dependencies are inferred from the claim text.