US 12,274,520 B2
System and method for manipulating an anatomy
David Gene Bowling, Los Ranchos De Albuquerque, NM (US); John Michael Stuart, Rio Rancho, NM (US); Jerry A. Culp, Kalamazoo, MI (US); Donald W. Malackowski, Schoolcraft, MI (US); José Luis Moctezuma de la Barrera, Freiburg (DE); 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 May 9, 2024, as Appl. No. 18/659,045.
Application 18/659,045 is a continuation of application No. 18/213,293, filed on Jun. 23, 2023, granted, now 12,035,986.
Application 18/213,293 is a continuation of application No. 17/365,280, filed on Jul. 1, 2021, granted, now 11,723,732, issued on Aug. 15, 2023.
Application 17/365,280 is a continuation of application No. 16/902,360, filed on Jun. 16, 2020, granted, now 11,083,531, issued on Aug. 10, 2021.
Application 16/902,360 is a continuation of application No. 16/130,089, filed on Sep. 13, 2018, granted, now 10,743,952, issued on Aug. 18, 2020.
Application 16/130,089 is a continuation of application No. 15/157,833, filed on May 18, 2016, granted, now 10,098,704, issued on Oct. 16, 2018.
Claims priority of provisional application 62/163,672, filed on May 19, 2015.
Prior Publication US 2024/0285359 A1, Aug. 29, 2024
Int. Cl. B25J 9/02 (2006.01); A61B 17/16 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); A61B 18/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/1675 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/32 (2016.02); A61B 34/37 (2016.02); A61B 34/76 (2016.02); A61B 90/39 (2016.02); A61B 2018/00565 (2013.01); A61B 2018/00601 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2068 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3975 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical system configured to manipulate an anatomy, the surgical system comprising:
a surgical tool configured to interact with the anatomy;
a robotic manipulator configured to support and move the surgical tool; and
one or more controllers configured to:
generate a first virtual boundary delineating a first portion of the anatomy allowed to be removed by the surgical tool;
control the robotic manipulator to autonomously move the surgical tool in relation to the first virtual boundary and according to a first feed rate to remove the first portion;
generate a second virtual boundary being spaced apart from the first virtual boundary and delineating a second portion of the anatomy allowed to be removed by the surgical tool; and
control the robotic manipulator to autonomously move the surgical tool in relation to the second virtual boundary and according to a second feed rate to remove the second portion, wherein the first feed rate is different than the second feed rate.