US 11,701,188 B2
Robotic spine surgery system and methods
Hyosig Kang, Weston, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Jun. 22, 2021, as Appl. No. 17/353,889.
Application 17/353,889 is a continuation of application No. 15/976,376, filed on May 10, 2018, granted, now 11,065,069.
Claims priority of provisional application 62/504,019, filed on May 10, 2017.
Prior Publication US 2021/0307849 A1, Oct. 7, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 17/16 (2006.01); A61B 34/00 (2016.01); A61B 34/32 (2016.01); A61B 17/70 (2006.01); A61B 90/00 (2016.01); A61B 17/17 (2006.01); A61B 34/10 (2016.01); A61B 90/98 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/1671 (2013.01); A61B 34/20 (2016.02); A61B 34/32 (2016.02); A61B 34/71 (2016.02); A61B 34/76 (2016.02); A61B 17/16 (2013.01); A61B 17/1757 (2013.01); A61B 17/7076 (2013.01); A61B 17/7082 (2013.01); A61B 90/98 (2016.02); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/031 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3983 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A surgical robotic system comprising:
a robotic manipulator;
a skin incision tool configured to be coupled to the robotic manipulator and configured to create an incision in a skin of a patient;
a navigation system including a skin tracker configured to attach to the skin of the patient to track the skin of the patient, and a navigation controller configured to:
track a pose of the skin tracker;
register a 3D model of the skin to the pose of the skin tracker; and
register a haptic object to the pose of the skin tracker, the haptic object defining a determined location to guide the skin incision tool; and
a robotic controller coupled to the robotic manipulator and configured to control the robotic manipulator to:
move the skin incision tool relative to the determined location on the skin of the patient; and
constrain movement of the skin incision tool with the haptic object to guide the skin incision tool to the determined location for making the incision in the skin.