US 11,857,201 B2
Surgical system with automated alignment
Jason Otto, Plantation, FL (US); Radu Iorgulescu, Weston, FL (US); Chris Lightcap, Davie, FL (US); Brian Schmitz, Fort Lauderdale, FL (US); Jason Wojcik, Weston, FL (US); and Carinne Cecile Granchi, Weston, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Feb. 8, 2022, as Appl. No. 17/666,779.
Application 17/666,779 is a continuation of application No. 16/786,146, filed on Feb. 10, 2020, granted, now 11,278,296.
Application 16/786,146 is a continuation of application No. 15/611,436, filed on Jun. 1, 2017, granted, now 10,595,880.
Application 15/611,436 is a continuation of application No. 14/824,867, filed on Aug. 12, 2015, abandoned.
Application 14/824,867 is a continuation of application No. 13/725,348, filed on Dec. 21, 2012, granted, now 10,398,449.
Prior Publication US 2022/0151639 A1, May 19, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 17/15 (2006.01); A61B 17/17 (2006.01); A61B 17/16 (2006.01); A61B 17/14 (2006.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01); A61B 34/10 (2016.01)
CPC A61B 17/15 (2013.01) [A61B 17/142 (2016.11); A61B 17/1615 (2013.01); A61B 17/1703 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 17/157 (2013.01); A61B 34/25 (2016.02); A61B 90/03 (2016.02); A61B 2017/00128 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2055 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a tool;
a robotic device configured to be coupled to the tool; and
a controller comprising a processor and non-transitory computer-readable memory storing instructions that, when executed, cause the processor to perform operations comprising:
controlling the robotic device in a first mode that provides automatic movement of the tool to a virtual plane correlated with an anatomical structure from a starting position away from the virtual plane; and
switching, based on arrival of the tool at the virtual plane via the automatic movement, from the first mode to a second mode;
controlling, in the second mode, the robotic device to force the tool to stay at the virtual plane while allowing manual repositioning of the tool along the virtual plane.