Robotic systems and methods for controlling a tool removing material from a workpiece

US11291511B2 · kind B2 · utility

Assignee

• MAKO Surgical Corp. · US

Inventors

• José Luis Moctezuma de la Barrera · Freiburg (Elbe), DE
• David Gene Bowling · Los Ranchos de Albuquerque, US
• Donald W. Malackowski · Schoolcraft, US
• Patrick Roessler · Freiburg im Breisgau, DE
• Joel N. Beer · Albuquerque, US

Key dates

• Filing date: Sep 24, 2018
• Grant date: Apr 5, 2022
• Expiry date: Mar 15, 2039

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/45168
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A method of operating a robotic system to efficiently remove material from a workpiece based on a density distribution of the material of the workpiece. The density distribution of the material of the workpiece is determined from a three-dimensional representation and evaluated by classifying the plurality of points or voxels into a first density classification and a second density classification. A navigation computer generates a first tool path and a second tool path for the tool based on the evaluated density distribution. The first tool path is associated with the first density classification, and the second tool path is associated with the second density classification. The position of the tool relative to the workpiece is tracked with a navigation computer and controlled with a manipulator controller based on the generated tool path to remove material along the first tool path, and remove material along the second tool path.