Systems and methods for controlling movement of a surgical tool along a predefined path

US11564761B2 · kind B2 · utility

Assignee

• MAKO Surgical Corp. · US

Inventors

• Helmut Rohs · Freiburg (Elbe), DE
• Michael Dale Dozeman · Portage, US
• Bharat Arora · Ambala, IN
• Michael C. Ferko · Monroe, US
• Patrick Roessler · Freiburg im Breisgau, DE
• Richard Thomas DeLuca · Kalamazoo, US
• David Gene Bowling · Los Ranchos de Albuquerque, US

Key dates

• Filing date: Mar 6, 2020
• Grant date: Jan 31, 2023
• Expiry date: Mar 6, 2041

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/066
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A robotic surgical system comprises a surgical tool, a manipulator configured to support the surgical tool, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a three-dimensional milling path for the surgical tool. The control system also receives one or more signals from the force/torque sensor in response to a user manually applying user forces and torques to the surgical tool. The control system determines a commanded pose to which to command the manipulator to advance the surgical tool along the milling path based on a tangential component of the user forces and torques, based on a virtual simulation using virtual constraints, and/or based on other suitable factors to promote guided, manual movement of the surgical tool along the milling path.