CPC A61B 34/20 (2016.02) [A61B 5/1127 (2013.01); A61B 17/1671 (2013.01); A61B 17/1703 (2013.01); A61B 17/7082 (2013.01); A61B 17/86 (2013.01); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 90/06 (2016.02); A61B 90/50 (2016.02); A61B 90/57 (2016.02); A61B 90/90 (2016.02); A61B 2017/00694 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 2034/305 (2016.02); A61B 2090/061 (2016.02); A61B 2090/062 (2016.02); A61B 2090/064 (2016.02); A61B 2090/067 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3983 (2016.02); Y10S 901/03 (2013.01); Y10S 901/09 (2013.01)] | 20 Claims |
1. A method of performing surgery comprising:
providing a robotic surgical system having:
a robot comprising an end-effector for holding a surgical tool for use in a surgical procedure;
a controller for controlling the position of the end-effector, wherein the end-effector is adapted to be manually and freely positioned by the surgeon during the operation; and
a measurement system with a computer processor for:
measuring, by the processor a position of the surgical tool held by the end effector and a position of a bone of a patient;
determining by the processor a change in the position of the bone; and
automatically adjusting via the robot the position of the end effector based at least in part on the determined change in the position of the bone such that a spatial relationship between the end effector and the bone remains substantially unaltered as at least a portion of the operation is performed, thereby ensuring the surgical tool remains aligned with a predetermined path;
performing a surgical procedure with the surgical tool.
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