US 11,937,884 B2
Method and apparatus for controlling a haptic device
Hyosig Kang, Weston, FL (US); Dennis Moses, Doral, FL (US); and Arthur Quaid, Ft. Lauderdale, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Jun. 18, 2021, as Appl. No. 17/351,731.
Application 17/351,731 is a continuation of application No. 17/150,370, filed on Jan. 15, 2021.
Application 17/150,370 is a continuation of application No. 16/509,651, filed on Jul. 12, 2019, granted, now 11,123,143.
Application 16/509,651 is a continuation of application No. 15/288,769, filed on Oct. 7, 2016, granted, now 10,350,012.
Application 15/288,769 is a continuation of application No. 11/750,815, filed on May 18, 2007, granted, now 9,492,237.
Claims priority of provisional application 60/801,378, filed on May 19, 2006.
Prior Publication US 2021/0307843 A1, Oct. 7, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 17/17 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 17/1764 (2013.01); A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 34/71 (2016.02); A61B 34/76 (2016.02); A61B 90/03 (2016.02); A61B 2017/00119 (2013.01); A61B 2017/00694 (2013.01); A61B 2017/00712 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/102 (2016.02); A61B 2034/107 (2016.02); A61B 2034/108 (2016.02); A61B 2034/2055 (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 34/25 (2016.02); A61B 2034/305 (2016.02); A61B 2090/363 (2016.02); A61B 2090/364 (2016.02); A61B 2090/3983 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a first tracker configured to be affixed to a bone;
a detection device configured to determine a change in position of the first tracker; and
circuitry communicable with the detection device and configured to:
compare the change in the position of the first tracker to a condition, wherein the condition comprises a threshold velocity such that the change in the position violates the condition when the first tracker moves with greater than the threshold velocity; and
generate a fault signal in response to a determination that the change in the position of the first tracker violates the condition.