US 12,280,506 B2
Robotic surgical system with slingshot prevention
Andrei Danilchenko, Miami, FL (US); and Abdullah Abbasi, San Diego, CA (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Oct. 28, 2021, as Appl. No. 17/513,334.
Claims priority of provisional application 63/189,508, filed on May 17, 2021.
Claims priority of provisional application 63/131,654, filed on Dec. 29, 2020.
Claims priority of provisional application 63/125,481, filed on Dec. 15, 2020.
Claims priority of provisional application 63/107,781, filed on Oct. 30, 2020.
Prior Publication US 2022/0134558 A1, May 5, 2022
Int. Cl. B25J 9/16 (2006.01); A61B 17/14 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); G05B 15/02 (2006.01); G16H 20/40 (2018.01); G16H 40/67 (2018.01)
CPC B25J 9/1664 (2013.01) [A61B 17/142 (2016.11); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/32 (2016.02); B25J 9/1689 (2013.01); B25J 9/1692 (2013.01); G05B 15/02 (2013.01); G16H 20/40 (2018.01); G16H 40/67 (2018.01); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/252 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a robotic arm comprising joints and configured to hold a surgical tool at a distal end of the robotic arm;
a controller configured to:
define a target pose spaced apart from a patient;
generate a planned path for moving the surgical tool held by the robotic arm from a first pose spaced away from the patient to the target pose;
cause automated motion of the robotic arm toward the patient from the first pose based on the planned path such that the surgical tool moves toward the patient without requiring user assistance;
determine, during the automated motion, a current position of the surgical tool using data from the joints of the robotic arm;
detect, during the automated motion, a deviation of the current position of the surgical tool from the planned path; and
in response to detecting the deviation of the distal end from the planned path, stop the automated motion of the robotic arm.