US 11,950,856 B2
Surgical device with movement compensation
Arthur Quaid, Ft. Lauderdale, FL (US); Hyosig Kang, Weston, FL (US); and Dennis Moses, Doral, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Feb. 14, 2022, as Appl. No. 17/670,927.
Application 17/670,927 is a continuation of application No. 16/042,393, filed on Jul. 23, 2018, granted, now 11,291,506.
Application 16/042,393 is a continuation of application No. 11/750,840, filed on May 18, 2007, granted, now 10,028,789.
Claims priority of provisional application 60/801,378, filed on May 19, 2006.
Prior Publication US 2022/0160437 A1, May 26, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 17/00 (2006.01); A61B 17/17 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 17/1764 (2013.01); A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 34/71 (2016.02); A61B 34/76 (2016.02); A61B 90/03 (2016.02); A61B 2017/00119 (2013.01); A61B 2017/00694 (2013.01); A61B 2017/00712 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/102 (2016.02); A61B 2034/107 (2016.02); A61B 2034/108 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/207 (2016.02); A61B 2034/2072 (2016.02); A61B 34/25 (2016.02); A61B 2034/305 (2016.02); A61B 2090/363 (2016.02); A61B 2090/364 (2016.02); A61B 2090/3983 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method of operating a robotic device coupled to a surgical tool, the method comprising:
allowing manual movement of the surgical tool along at least one direction;
physically aligning, via operation of the robotic device, the surgical tool with a target using a control object having a planned geometric relationship with a bone;
optically tracking movement of an array coupled to the bone during a surgical procedure;
virtually moving the control object to compensate for the movement of the array during the surgical procedure by adjusting a changed position of the control object by an amount based on a product of a velocity value and a latency associated with the optically tracking the movement of the array; and
physically realigning, via the operation of the robotic device, the surgical tool with the target using the moved control object.