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

US12178540B2 · 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: Jan 5, 2023
• Grant date: Dec 31, 2024
• Expiry date: Mar 1, 2043

Classification

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

Abstract

Robotic surgical systems and methods for controlling movement of a tool relative to a tool path. An input is received from a force/torque sensor in response to user forces/torques manually applied to the tool by a user. A component of force is calculated tangential to the path based on the input. An effective feed rate is calculated to advance the tool along the path based on the tangential component. Virtual constraints are defined on movement of the tool along the path with respect to three degrees of freedom and based on the effective feed rate to promote movement of the tool along the path. Dynamics of the tool are virtually simulated based on the virtual constraints and the input from the force/torque sensor. The manipulator is commanded to advance the tool along the path based on the virtual simulation.