Techniques For Controlling Position Of An End Effector Of A Robotic Device Relative To A Virtual Constraint

A system comprising:

• a robotic device comprising an end effector and a plurality of joints to position the end effector in a plurality of degrees of freedom;
• a navigation system configured to track an actual position of the end effector;
• and
• a controller configured to:
• determine a home position of the end effector;
• determine that an anticipated movement of the end effector from an actual position to the home position would cause a collision between the end effector and a virtual constraint;
• compute a target position of the end effector that avoids the collision, wherein the target position is spaced apart from the actual position and computed with respect to the virtual constraint;
• and
• control one or more of the plurality of joints of the robotic device to move the end effector from the actual position to the target position.

A method of preparing a bone for a surgical implant including a robotic device comprising an end effector and a plurality of actuators to position the end effector in a plurality of degrees of freedom;

• a navigation system configured to track an actual position of the end effector;
• and a controller, the method comprising:
• determining a home position of the end effector;
• determining that an anticipated movement of the end effector from an actual position to the home position would cause a collision between the end effector and a virtual constraint;
• computing a target position of the end effector that avoids the collision, wherein the target position is spaced apart from the actual position and computed with respect to the virtual constraint;
• and
• moving the end effector from the actual position to the target position with one or more of the plurality of actuators.