System and method of controlling a surgical tool during autonomous movement of the surgical tool
AssigneeMAKO Surgical Corp.
InventorsDavid Gene Bowling, Patrick Roessler
Life of this patent
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Abstract
A system and a method of controlling a surgical tool of a robotic system during autonomous movement of the surgical tool are provided. A path of movement for the surgical tool is determined. At least one acceptable orientation of the surgical tool with respect to the path is generated. The surgical tool autonomously moves along the path in the at least one acceptable orientation. Forces applied to the surgical tool are sensed. An altered orientation is identified based on the sensed forces. The surgical tool autonomously moves along the path in response to comparing the altered orientation to the at least one acceptable orientation.
Claims26
A robotic system comprising:
- a surgical tool being moveable along a path;
- a manipulator supporting said surgical tool and being configured to move said surgical tool along the path;
- a path generator being configured to determine the path;
- an orientation generator being configured to determine at least one acceptable orientation for said surgical tool with respect to the path;
- a manipulator controller in communication with said path generator and said orientation generator and being configured to instruct said manipulator to autonomously move said surgical tool in the at least one acceptable orientation along the path as determined;
- a sensor being configured to sense forces applied to said surgical tool;
- and
- wherein said manipulator controller is configured to identify an altered orientation based on forces sensed by said sensor and to instruct movement of said surgical tool to the altered orientation along the path in response to comparing the altered orientation to the at least one acceptable orientation.
A method of controlling a surgical tool of a robotic system during autonomous movement of the surgical tool, said method comprising the steps of:
- determining a path of movement for the surgical tool;
- determining at least one acceptable orientation of the surgical tool with respect to the path;
- autonomously moving the surgical tool along the path in the at least one acceptable orientation;
- sensing forces applied to the surgical tool;
- identifying an altered orientation based on the sensed forces;
- and
- autonomously moving the surgical tool to the altered orientation along the path in response to comparing the altered orientation to the at least one acceptable orientation.
A method of controlling a surgical tool of a robotic system during autonomous movement of the surgical tool, said method comprising the steps of:
- determining a path of movement for the surgical tool;
- determining at least one acceptable orientation of the surgical tool with respect to the path;
- autonomously moving the surgical tool along the path in the at least one acceptable orientation;
- sensing forces applied to the surgical tool in response to attempting to place the surgical tool in an altered orientation;
- identifying the altered orientation based on the sensed forces;
- and
- autonomously moving the surgical tool along the path in response to comparing the altered orientation to the at least one acceptable orientation.
Dependencies are inferred from the claim text.