Neural monitor-based dynamic haptics
AssigneeMAKO Surgical Corp.
InventorsChris Alan Lightcap, Hyosig Kang, Arthur E. Quaid, III, Rony Abovitz
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Abstract
A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.
Claims14
A computer-implemented method for controlling a surgical system, the method comprising:
- receiving, from a neural monitor, a signal indicative of a distance between a surgical tool connected to a robotic arm and a portion of a patient's anatomy;
- receiving a joint angular velocity of one or more joints of the robotic arm;
- determining a neural monitor gain based on the signal received from the neural monitor;
- generating a first force value proportional to the neural monitor gain and the joint angular velocity of one or more joints of the robotic arm and a second force value based on a relationship of the surgical tool with a repulsive virtual haptic geometry associated with the patient's anatomy;
- and
- generating a command to control the surgical system by altering a degree to which the robotic arm resists movement by combining the first force value and the second force value.
A computer-assisted surgery system comprising:
- a robotic arm including a surgical tool;
- a processor communicatively connected to the robotic arm and configured to:
- receive, from a neural monitor, a distance between the surgical tool connected to the robotic arm and a portion of a patient's anatomy;
- receive a joint angular velocity of one or more joints of the robotic arm;
- determine a neural monitor gain based on the signal received from the neural monitor;
- generate a first force value proportional to the neural monitor gain and the joint angular velocity of one or more joints of the robotic arm and a second force value based on a relationship of the surgical tool with a repulsive virtual haptic geometry associated with the patient's anatomy;
- and
- generate a command to control the surgical system by altering a degree to which the robotic arm resists movement by combining the first force value and the second force value.
A computer-implemented method for controlling a surgical system, the method comprising:
- receiving, at a processor associated with a computer, a signal from a neural monitor indicative of a distance between a surgical tool connected to a robotic arm and a portion of a patient's anatomy;
- receiving a joint angular velocity of one or more joints of the robotic arm;
- determining a neural monitor gain based on the signal received from the neural monitor;
- determining, by the processor, a first force value proportional to the neural monitor gain and the joint angular velocity of one or more joints of the robotic arm and a second force value based on a relationship of the surgical tool with a repulsive virtual haptic geometry associated with the patient's anatomy;
- and
- determining a haptic feedback command to control the surgical system based on the first force value and the second force value.
Dependencies are inferred from the claim text.