US 11,918,305 B2
Systems and methods for establishing virtual constraint boundaries
David Gene Bowling, Los Ranchos De Albuquerque, NM (US); Donald W. Malackowski, Schoolcraft, MI (US); José Luis Moctezuma de la Barrera, Freiburg (DE); Patrick Roessler, Merzhausen (DE); Jerry A. Culp, Kalamazoo, MI (US); John Michael Stuart, Rio Rancho, NM (US); and Joel N. Beer, Albuquerque, NM (US)
Assigned to Stryker Corporation, Kalamazoo, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on Aug. 19, 2022, as Appl. No. 17/891,288.
Application 15/416,717 is a division of application No. 14/205,702, filed on Mar. 12, 2014, granted, now 9,603,665, issued on Mar. 28, 2017.
Application 17/891,288 is a continuation of application No. 16/685,442, filed on Nov. 15, 2019, granted, now 11,464,579.
Application 16/685,442 is a continuation of application No. 15/416,717, filed on Jan. 26, 2017, granted, now 10,512,509, issued on Dec. 24, 2019.
Claims priority of provisional application 61/780,148, filed on Mar. 13, 2013.
Prior Publication US 2022/0387117 A1, Dec. 8, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 17/02 (2006.01); A61B 17/16 (2006.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 17/02 (2013.01); A61B 17/16 (2013.01); A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 90/03 (2016.02); A61B 2017/00734 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2068 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3983 (2016.02); Y10S 901/09 (2013.01); Y10S 901/47 (2013.01)] 14 Claims
OG exemplary drawing
 
9. A method of operating a surgical system, the surgical system comprising one or more controllers, a robotic manipulator, a surgical instrument coupled to the robotic manipulator and being moveable by the robotic manipulator, and a navigation system including a first tracker coupled to a first bone, a second tracker coupled to a second bone, and a localizer configured to track each of the first tracker, the second tracker, and the surgical instrument, wherein the first bone and the second bone are moveable relative to each other, the method comprising the one or more controllers:
associating a first virtual boundary with the first bone;
associating a second virtual boundary with the second bone; and
controlling the robotic manipulator in relation to the first virtual boundary to facilitate manipulation of the first bone by the surgical instrument and simultaneously controlling the robotic manipulator in relation to the second virtual boundary to avoid interaction of the surgical instrument with the second bone while accounting for movement of the first virtual boundary and the second virtual boundary relative to each other that is based on the tracked first and second trackers.