US 11,944,396 B2
Systems and methods for controlling robotic movement of a tool based on a virtual boundary
Michael Dale Dozeman, Portage, MI (US); Patrick Roessler, Merzhausen (DE); Gregory Garcia, Parkland, FL (US); Rishabh Khurana, Fort Lauderdale, FL (US); Jeremy L. Dunn, Portage, MI (US); and David Gene Bowling, Los Ranchos De Albuquerque, NM (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Mar. 25, 2021, as Appl. No. 17/212,568.
Claims priority of provisional application 63/000,860, filed on Mar. 27, 2020.
Prior Publication US 2021/0298846 A1, Sep. 30, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/32 (2016.01)
CPC A61B 34/25 (2016.02) [A61B 34/20 (2016.02); A61B 34/32 (2016.02); A61B 34/76 (2016.02)] 32 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a tool;
a manipulator to support the tool; and
a control system to control operation of the manipulator and movement of the tool based on a relationship between the tool and a virtual boundary associated with a target site, the control system including:
a user input having a first input state and a second input state,
wherein the control system is configured to enable autonomous, boundary-complying movement of the tool when the user input is in the first input state so that the tool maintains compliance with the virtual boundary,
wherein the control system is configured to disable autonomous, boundary-complying movement of the tool when the user input is in the second input state; and
a boundary handler to determine, in response to the user input transitioning from the second input state to the first input state, whether the tool is in violation of the virtual boundary.