US 12,220,192 B2
Robotic systems and methods for controlling a tool to remove material from a workpiece
José Luis Moctezuma de la Barrera, Freiburg (DE); David Gene Bowling, Los Ranchos De Albuquerque, NM (US); Donald W. Malackowski, Schoolcraft, MI (US); Patrick Roessler, Merzhausen (DE); and Joel N. Beer, Albuquerque, NM (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Nov. 1, 2023, as Appl. No. 18/385,994.
Application 18/385,994 is a continuation of application No. 17/685,488, filed on Mar. 3, 2022, granted, now 11,864,852.
Application 17/685,488 is a continuation of application No. 16/139,985, filed on Sep. 24, 2018, granted, now 11,291,511, issued on Apr. 5, 2022.
Application 16/139,985 is a continuation of application No. 15/195,039, filed on Jun. 28, 2016, granted, now 10,117,713, issued on Nov. 6, 2018.
Claims priority of provisional application 62/187,481, filed on Jul. 1, 2015.
Prior Publication US 2024/0058084 A1, Feb. 22, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 17/16 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/32 (2016.01); A61B 90/00 (2016.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); A61B 17/17 (2006.01); G05B 19/4093 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/1626 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/32 (2016.02); A61B 90/39 (2016.02); B25J 9/1664 (2013.01); B25J 9/1671 (2013.01); B25J 11/0055 (2013.01); A61B 17/1764 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2063 (2016.02); A61B 2090/3945 (2016.02); G05B 19/40937 (2013.01); G05B 2219/35021 (2013.01); G05B 2219/45168 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a robotic manipulator including a plurality of links and joints;
a tool coupled to the robotic manipulator and the tool being configured to remove material from a workpiece;
a navigation system comprising a localizer, a first tracker coupled to the robotic manipulator or the tool, and a second tracker coupled to the workpiece, and wherein the localizer is configured to detect the first and second trackers; and
one or more controllers coupled to the robotic manipulator and the navigation system, the one or more controllers configured to:
determine, from the navigation system, a pose of the tool relative to the workpiece;
control the robotic manipulator to facilitate removal of a first portion from the workpiece with the tool at a first cutting depth;
sense interaction between the tool and the workpiece during removal of the first portion to detect a density of the workpiece;
control the robotic manipulator to facilitate removal of a second portion from the workpiece with the tool at a second cutting depth, wherein the second cutting depth is based, at least in part, on the detected density and is different from the first cutting depth; and
modify operation of the tool based, at least in part, on the detected density.