US 12,220,183 B2
Systems and methods for adaptive planning and control of a surgical tool
Jason Otto, Sioux Falls, SD (US); and Abdullah Abbasi, Lake Worth, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Oct. 6, 2022, as Appl. No. 17/961,262.
Application 17/961,262 is a continuation of application No. 16/427,141, filed on May 30, 2019, granted, now 11,523,870.
Claims priority of provisional application 62/679,185, filed on Jun. 1, 2018.
Prior Publication US 2023/0024464 A1, Jan. 26, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 2034/102 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2065 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A method, comprising:
collecting a cloud of points reached by a cutting tool during completion of the first stage of modifying a bone with the cutting tool;
fitting a surface to a side of the cloud of points such that the surface corresponds to an actual cut of the bone completed during the first stage of the bone with the cutting tool;
generating a planned cut to be completed during a second stage of modifying the bone with the cutting tool based on a location or rotation of the surface, the planned cut offset from the surface; and
assisting, by a robot controlled using the planned cut, the cutting tool in executing the second stage of modifying the bone with the cutting tool.