US 11,999,065 B2
Robotic surgical system with motorized movement to a starting pose for a registration or calibration routine
Zhifu You, Palmetto Bay, FL (US); Steve Polomski, Kinnelon, NJ (US); Curtis McClarin, Fort Lauderdale, FL (US); Jason Otto, Sioux Falls, SD (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. 17/513,324.
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 2022/0134569 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 extending from a base;
a tracking system configured to track at least one of a first marker attached to a distal end of the robotic arm and a second marker attached to the base;
a controller configured to:
in response to the robotic arm entering an approach area, provide an option to initiate automatic movement to a starting pose for a registration or calibration routine for the robotic arm;
in response to selection of the option, control the robotic arm to automatically move to the starting pose for the registration or calibration routine; and
in response to successful automatic movement to the starting pose for the registration or calibration routine, perform the registration or calibration routine for the robotic arm.