US 11,832,887 B2
Systems and methods for generating customized control boundaries
Jason Otto, Plantation, FL (US); and Hyosig Kang, Weston, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Sep. 24, 2021, as Appl. No. 17/483,999.
Application 17/483,999 is a continuation of application No. 15/451,105, filed on Mar. 6, 2017, granted, now 11,160,609.
Application 15/451,105 is a continuation of application No. 14/578,064, filed on Dec. 19, 2014, granted, now 9,588,587.
Claims priority of provisional application 61/922,740, filed on Dec. 31, 2013.
Prior Publication US 2022/0008132 A1, Jan. 13, 2022
Int. Cl. A61B 34/10 (2016.01); G06F 3/01 (2006.01); G06T 7/00 (2017.01); G06T 15/00 (2011.01); A61B 34/30 (2016.01); A61B 34/00 (2016.01); G16H 50/50 (2018.01); G16H 20/40 (2018.01); G16H 30/20 (2018.01); A61B 34/20 (2016.01); G06T 7/13 (2017.01); A61B 6/00 (2006.01); G05B 15/02 (2006.01); G06T 7/60 (2017.01); A61B 90/00 (2016.01)
CPC A61B 34/10 (2016.02) [A61B 6/5211 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); G05B 15/02 (2013.01); G06F 3/016 (2013.01); G06T 7/0012 (2013.01); G06T 7/13 (2017.01); G06T 7/60 (2013.01); G06T 15/00 (2013.01); G16H 20/40 (2018.01); G16H 30/20 (2018.01); G16H 50/50 (2018.01); A61B 90/03 (2016.02); A61B 2034/102 (2016.02); A61B 2034/104 (2016.02); A61B 2034/105 (2016.02); G06T 2200/24 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/30004 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
providing a standard control boundary defining a portion of a bone to be resected;
registering a position of a soft tissue at the bone;
obtaining a customized control boundary by moving a vertex of the standard control boundary based on the position of the soft tissue; and
controlling a robotic device to constrain operation of a cutting tool to an area defined by the customized control boundary.