US 11,890,067 B2
Positioning arm for a surgical navigation system
Brent Andrew Bailey, Toronto (CA); Trevor James Dell, Toronto (CA); Bart Verzijlenberg, Toronto (CA); Adam Philip, Toronto (CA); Sean Dowling, Toronto (CA); and Robert Lucas, Toronto (CA)
Assigned to SYNAPTIVE MEDICAL INC., Toronto (CA)
Filed by Synaptive Medical Inc., Toronto (CA)
Filed on Jan. 22, 2021, as Appl. No. 17/155,424.
Application 17/155,424 is a continuation of application No. 16/114,323, filed on Aug. 28, 2018, granted, now 10,898,282.
Claims priority of application No. CA 2977489 (CA), filed on Aug. 28, 2017.
Prior Publication US 2021/0137616 A1, May 13, 2021
Int. Cl. A61B 34/30 (2016.01); B25J 9/02 (2006.01); A61B 17/29 (2006.01); A61B 18/14 (2006.01); B25J 13/08 (2006.01); B25J 9/16 (2006.01); B25J 18/00 (2006.01); A61B 34/20 (2016.01); F16M 11/06 (2006.01); A61B 90/00 (2016.01); A61B 34/10 (2016.01); A61B 34/00 (2016.01); A61B 17/32 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/29 (2013.01); A61B 18/1442 (2013.01); A61B 34/20 (2016.02); B25J 9/02 (2013.01); B25J 9/1633 (2013.01); B25J 13/085 (2013.01); B25J 13/088 (2013.01); B25J 18/007 (2013.01); A61B 17/32 (2013.01); A61B 34/10 (2016.02); A61B 34/25 (2016.02); A61B 90/361 (2016.02); A61B 2017/2912 (2013.01); A61B 2034/2055 (2016.02); A61B 2090/064 (2016.02); A61B 2090/065 (2016.02); A61B 2090/066 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3735 (2016.02); A61B 2090/3762 (2016.02); F16M 11/06 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A motion-assisted positioning arm for a medical procedure, the positioning arm comprising:
a base;
an arm configured to couple with the base, the arm having a first arm end and a second arm end, and the arm comprising:
a plurality of arm segments extending from the first arm end to the second arm end;
a plurality of joints, each joint of the plurality of joints configured to couple each arm segment with another arm segment; and
an end effector configured to couple with the second arm end, wherein the end effector is manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint of the plurality of joints;
a processor operably coupled with the plurality of joints and the end effector, the processor configured by processor-readable instructions storable in relation to a memory to:
determine a memory mode for returning the end effector to a saved position by constraining movement of the end effector in the task-coordinate space;
determine a surgical mode for constraining movement of the end effector in the task-coordinate space, the surgical mode defining an updated end effector position in the task-coordinate space;
determine an end effector velocity based on the memory mode, the surgical mode, at least one of forces and torques on the end effector, and at least one of a subset of the forces and a subset of torques on the end effector while disregarding at least one of remaining forces and remaining torques on the end effector; and
instruct movement in space of at least one joint of the plurality of joints based on the end effector velocity.