Method and apparatus for controlling a haptic device
AssigneeMAKO Surgical Corp.
InventorsDennis Moses, Arthur Quaid, Hyosig Kang
Life of this patent
Estimating the term…
Abstract
A method for controlling a surgical device is provided. The method includes manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and a position, an orientation, a velocity, and/or an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the position, the orientation, the velocity, and/or the acceleration of the surgical tool; and imposing a constraint on the surgical device if the relationship does not correspond to the desired relationship and/or a detection device is unable to detect a position of the anatomy and/or the position of the surgical tool.
Claims28
A method for controlling a surgical device, comprising the steps of:
- manipulating the surgical device to perform a procedure on a patient;
- determining whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool;
- imposing a constraint on the surgical device if a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool;
- determining whether the surgical tool is interacting with a virtual boundary associated with the anatomy;
- and
- deactivating the virtual boundary if the surgical tool is not interacting with the virtual boundary.
A system for controlling a surgical device, comprising:
- a surgical tool coupled to the surgical device, the surgical device configured to be manipulated by a user to perform a procedure on a patient;
- and
- a computing system programmed to:
- determine whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of the surgical tool corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool,
- impose a constraint on the surgical device if a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool;
- determine whether the surgical tool is interacting with a virtual boundary associated with the anatomy, and
- deactivate the virtual boundary if the surgical tool is not interacting with the virtual boundary.
A method for controlling a surgical device, comprising the steps of:
- manipulating the surgical device to perform a procedure on a patient;
- determining whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool;
- imposing a constraint on the surgical device if a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool;
- and
- removing the imposed constraint after a predetermined time interval from the time of imposing the constraint.
A system for controlling a surgical device, comprising:
- a surgical tool coupled to the surgical device, the surgical device configured to be manipulated by a user to perform a procedure on a patient;
- and
- a computing system programmed to:
- determine whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of the surgical tool corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool;
- impose a constraint on the surgical device if a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool;
- and
- remove the imposed constraint after a predetermined time interval from the time of imposing the constraint.
Dependencies are inferred from the claim text.