	US 12,214,501 B2
	Robotic surgical system with recovery alignment
Abdullah Abbasi, San Diego, CA (US); Amar Bhatt, Syracuse, NY (US); and Andrei Danilchenko, Miami, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Oct. 28, 2021, as Appl. No. 17/513,368.
Claims priority of provisional application 63/189,508, filed on May 17, 2021.
Claims priority of provisional application 63/131,654, filed on Dec. 29, 2020.
Claims priority of provisional application 63/125,481, filed on Dec. 15, 2020.
Claims priority of provisional application 63/107,781, filed on Oct. 30, 2020.
Prior Publication US 2022/0133419 A1, May 5, 2022
Int. Cl. B25J 9/16 (2006.01); A61B 17/14 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); G05B 15/02 (2006.01); G16H 20/40 (2018.01); G16H 40/67 (2018.01)

CPC B25J 9/1664 (2013.01) [A61B 17/142 (2016.11); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/32 (2016.02); B25J 9/1689 (2013.01); B25J 9/1692 (2013.01); G05B 15/02 (2013.01); G16H 20/40 (2018.01); G16H 40/67 (2018.01); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/252 (2016.02)]

19 Claims

1. A method of operation of a robotically-assisted surgical system, comprising:

defining a virtual geometry associated with a planned resection;

determining a first pose of a surgical tool in response to an interruption of performance of the planned resection;

intraoperatively defining a target orientation for the surgical tool on using the first pose such that the target orientation corresponds to an angle of the surgical tool in the virtual geometry at the interruption;

controlling a robotic device to automatically move the surgical tool to both the virtual geometry and the target orientation.