Surgical system with occlusion detection
AssigneeMAKO Surgical Corp.
InventorsHyosig Kang, Dennis Moses, Arthur Quaid
Life of this patent
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Abstract
A method includes controlling a robotic system using a virtual boundary and based on optical tracking of a tracker, detecting a condition in which an optical detection device is occluded from detecting the tracker, and maintaining the virtual boundary if the condition persists for shorter than a predetermined period of time.
Claims20
A surgical system, comprising a surgical tool configured to interact with an anatomy;
- a robotic system coupled to the surgical tool;
- a tracking system comprising:
- a tracker coupled to the robotic system, the surgical tool, or the anatomy;
- and
- an optical detection device that is configured to detect the tracker;
- and
- a computing system configured to:
- control the robotic system using a virtual boundary;
- detect existence of a condition wherein the optical detection device is occluded from detecting the tracker;
- maintain the virtual boundary if the condition ceases to exist before expiration of a predetermined period of time;
- and
- generate a fault signal in response to a determination that a movement of the tracker violates a condition.
A method, comprising:
- controlling a robotic system using a virtual boundary and based on optical tracking of a tracker;
- detecting a condition in which an optical detection device is occluded from detecting the tracker;
- and
- maintaining the virtual boundary if the condition persists for shorter than a predetermined period of time.
One or more non-transitory computer-readable media storing program instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
- controlling a robotic system using a virtual boundary and based on optical tracking of a tracker;
- determining existence of a condition in which an optical detection device is occluded from detecting the tracker;
- maintaining the virtual boundary during a predetermined period of time following initiation of the condition;
- and
- removing the virtual boundary if the condition persists for longer than the predetermined period of time.
Dependencies are inferred from the claim text.