Surgical system with passive and motorized joints
AssigneeMAKO Surgical Corp.
InventorHyosig Kang
Life of this patent
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Abstract
A method includes obtaining an implant plan, defining a range of motion for a surgical tool based on the implant plan, adjusting, by an actuator and based on the range of motion, a passive joint coupled between the actuator and the surgical tool, and allowing manual movement of the surgical tool through the range of motion via rotation at the passive joint.
Claims20
A method, comprising:
- obtaining an implant plan;
- defining a range of motion for a surgical tool based on the implant plan;
- adjusting, by an actuator and based on the range of motion, a passive joint coupled between the actuator and the surgical tool;
- and
- allowing manual movement of the surgical tool through the range of motion via rotation at the passive joint.
A method, comprising:
- controlling a motorized joint to determine a region through which a plurality of passive joints are manually articulable;
- and
- sculpting a bone with a cutting tool coupled to the motorized joint via the plurality of passive joints by manually articulating the plurality of passive joints to move the cutting tool relative to the motorized joint.
A method of operating a surgical system comprising a cutting tool and a passive joint coupled in series with a motorized joint such that the cutting tool is manually moveable relative to the motorized joint by rotation at the passive joint, comprising:
- determining a desired arrangement of the passive joint based on an implant plan;
- and
- controlling the motorized joint to achieve the desired arrangement of the passive joint.
Dependencies are inferred from the claim text.