US 11,872,005 B2
Method and system for guiding user positioning of a robot
Saleh Tabandeh, Fremont, CA (US); Joel Zuhars, Fremont, CA (US); Daniel Patrick Bonny, Fremont, CA (US); Timothy Pack, Fremont, CA (US); Randall Hanson, Fremont, CA (US); Michael Hoppe, Fremont, CA (US); and Nathan A. Netravali, Fremont, CA (US)
Assigned to Think Surgical Inc., Fremont, CA (US)
Filed by Think Surgical, Inc., Fremont, CA (US)
Filed on Dec. 14, 2020, as Appl. No. 17/120,466.
Application 17/120,466 is a continuation of application No. 16/078,336, granted, now 10,864,050, issued on Dec. 15, 2020, previously published as PCT/US2017/019746, filed on Feb. 27, 2017.
Claims priority of provisional application 62/300,234, filed on Feb. 26, 2016.
Prior Publication US 2021/0205037 A1, Jul. 8, 2021
Int. Cl. A61B 34/32 (2016.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01)
CPC A61B 34/32 (2016.02) [A61B 34/00 (2016.02); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 90/39 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/254 (2016.02); A61B 2090/368 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3983 (2016.02); A61B 2090/502 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A process for positioning a robot with respect to a bone of a patient, the robot comprising a moveable base, a manipulator arm, and an end-effector coupled to the manipulator arm, said process comprising:
determining a position and/or orientation (POSE) for an axis of the end-effector in a workspace of the robot; and
positioning the axis of the end-effector, with the manipulator arm, in the determined POSE, which then provides feedback for positioning the moveable base of the robot with respect to the patient by aligning a longitudinal axis of the bone with the axis of the end-effector positioned in the determined POSE.