Surgical system with free mode registration
AssigneeMAKO Surgical Corp.
InventorsHyosig Kang, Dennis Moses, Arthur Quaid
Life of this patent
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Abstract
A method includes controlling a robotic arm extending from a base in a free mode during a registration procedure and optically tracking the base and a marker mounted on the robotic arm during movement of the robotic arm in the free mode. The movement of the robotic arm causes movement of the marker without affecting a position of the base. The method also includes defining a coordinate transformation based on a position of the base and a plurality of tracked positions of the marker achieved during the movement of the robotic arm in the free mode and controlling the robotic arm using the coordinate transformation.
Claims20
A surgical system, comprising:
- a base;
- a robotic arm extending from the base;
- a first marker mounted on the base;
- a second marker coupled to the robotic arm;
- a detector configured to detect the first marker and the second marker;
- and
- a computing system programmed to:
- control the robotic arm in a free mode during a registration procedure;
- and
- define a coordinate transformation based on a position of the first marker detected by the detector and a plurality of positions of the second marker detected by the detector as the robotic arm is moved by a user in the free mode.
A method, comprising:
- controlling a robotic arm extending from a base in a free mode during a registration procedure,
- optically tracking the base and a marker mounted on the robotic arm during movement of the robotic arm in the free mode, wherein the movement of the robotic arm causes movement of the marker without affecting a position of the base;
- defining a coordinate transformation based on a position of the base and a plurality of tracked positions of the marker achieved during the movement of the robotic arm in the free mode;
- and
- controlling the robotic arm using the coordinate transformation.
Dependencies are inferred from the claim text.