US 11,986,260 B2
Robotic surgical system and methods utilizing virtual boundaries with variable constraint parameters
Jamil Elbanna, San Diego, CA (US); Michael Prieto, Miami Springs, FL (US); and Vijay Subramanian, Weston, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Apr. 20, 2022, as Appl. No. 17/724,634.
Application 17/724,634 is a continuation of application No. 16/816,782, filed on Mar. 12, 2020, granted, now 11,337,766.
Claims priority of provisional application 62/819,077, filed on Mar. 15, 2019.
Prior Publication US 2022/0241036 A1, Aug. 4, 2022
Int. Cl. A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/1615 (2013.01); A61B 17/1626 (2013.01); A61B 17/1757 (2013.01); A61B 34/25 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/306 (2016.02); A61B 2090/062 (2016.02); A61B 2090/066 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a surgical tool;
a robotic manipulator comprising a plurality of links and joints and being configured to support and move the surgical tool for treating a bone structure;
a navigation system configured to track the surgical tool and the bone structure; and
one or more controllers coupled to the robotic manipulator and the navigation system, the one or more controllers being configured to:
obtain a virtual model of the bone structure;
define a first virtual boundary relative to the virtual model of the bone structure, wherein the first virtual boundary has a first constraint parameter;
define a second virtual boundary relative to the virtual model of the bone structure, wherein the second virtual boundary has a second constraint parameter that is different than the first constraint parameter;
register the virtual model and the first and second virtual boundaries to the bone structure; and
control the robotic manipulator to:
move the surgical tool relative to the bone structure and relative to the first and second virtual boundaries;
constrain movement of the surgical tool relative to the first virtual boundary in accordance with the first constraint parameter; and
constrain movement of the surgical tool relative to the second virtual boundary in accordance with the second constraint parameter.