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 |
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.
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