US 11,937,881 B2
Systems and methods for identifying and tracking physical objects during a robotic surgical procedure
Patrick Roessler, Merzhausen (DE)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Ft. Lauderdale, FL (US)
Filed on Dec. 10, 2019, as Appl. No. 16/709,255.
Application 16/709,255 is a continuation of application No. 15/602,621, filed on May 23, 2017, granted, now 10,531,926.
Claims priority of provisional application 62/340,176, filed on May 23, 2016.
Prior Publication US 2020/0107887 A1, Apr. 9, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 17/02 (2006.01); A61B 17/17 (2006.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); B25J 9/16 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 90/90 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 17/0206 (2013.01); A61B 17/1703 (2013.01); A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 34/32 (2016.02); B25J 9/1676 (2013.01); B25J 9/1697 (2013.01); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/207 (2016.02); A61B 2034/2072 (2016.02); A61B 34/76 (2016.02); A61B 2090/3612 (2016.02); A61B 90/90 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A system for tracking a physical object, comprising:
a robotic device;
an instrument attached to the robotic device and configured to remove material from a bone, the robotic device being configured to operate in an autonomous mode in which the robotic device moves autonomously to move the instrument along a predefined tool path to remove the material from the bone;
a vision device attached to one of the robotic device or the instrument according to a fixed relationship such that the vision device is movable with the robotic device; and
one or more controllers having at least one processor and being in communication with the vision device, the one or more controllers being configured to:
generate, with the vision device and during the autonomous movement of the robotic device to move the instrument along the predefined tool path to remove the material from the bone, vision data sets captured from multiple perspectives of the physical object enabled by the vision device being moved in a plurality of degrees of freedom as a result of the autonomous movement of the robotic device to move the instrument along the predefined tool path;
associate a virtual object with the physical object based on a set of features of the physical object identifiable in the vision data sets, wherein the virtual object at least partially defines a virtual boundary;
determine a position of each of the features relative to the vision device to establish a pose of the physical object relative to the vision device based on the vision data sets;
determine a pose of the one of the robotic device or the instrument relative to a known coordinate system;
determine a pose of the physical object relative to the known coordinate system based on the determined pose of the one of the robotic device or the instrument relative to the known coordinate system, the pose of the physical object relative to the vision device, and the fixed relationship; and
constrain the autonomous movement of the robotic device relative to the physical object utilizing the virtual boundary such that the robotic device does not exceed the virtual boundary during the autonomous movement based on the determined poses of the physical object and the one of the robotic device or the instrument relative to the known coordinate system.