US 11,723,732 B2
System and method for manipulating an anatomy
David Gene Bowling, Los Ranchos De Albuquerque, NM (US); John Michael Stuart, Rio Rancho, NM (US); Jerry A. Culp, Kalamazoo, MI (US); Donald W. Malackowski, Schoolcraft, MI (US); José Luis Moctezuma de la Barrera, Los Ranchos De Albuquerque, NM (US); Patrick Roessler, Merzhausen (DE); and Joel N. Beer, Albuquerque, NM (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Jul. 1, 2021, as Appl. No. 17/365,280.
Application 17/365,280 is a continuation of application No. 16/902,360, filed on Jun. 16, 2020, granted, now 11,083,531.
Application 16/902,360 is a continuation of application No. 16/130,089, filed on Sep. 13, 2018, granted, now 10,743,952, issued on Aug. 18, 2020.
Application 16/130,089 is a continuation of application No. 15/157,833, filed on May 18, 2016, granted, now 10,098,704, issued on Oct. 16, 2018.
Claims priority of provisional application 62/163,672, filed on May 19, 2015.
Prior Publication US 2021/0322114 A1, Oct. 21, 2021
Int. Cl. B25J 9/02 (2006.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/10 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); A61B 17/16 (2006.01); A61B 18/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/1675 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/32 (2016.02); A61B 34/37 (2016.02); A61B 34/76 (2016.02); A61B 90/39 (2016.02); A61B 2018/00565 (2013.01); A61B 2018/00601 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2068 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3975 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical system for manipulating an anatomy, the surgical system comprising:
a surgical tool;
a robotic manipulator configured to support and move the surgical tool; and
one or more controllers configured to:
activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool;
control the robotic manipulator to enable the surgical tool to bulk cut the first portion in relation to the first virtual boundary; and
control the robotic manipulator to enable the surgical tool to fine cut the second portion of the anatomy.