US 12,357,396 B2
Surgical system with free mode registration
Hyosig Kang, Weston, FL (US); Dennis Moses, Doral, FL (US); and Arthur Quaid, Ft. Lauderdale, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Feb. 6, 2023, as Appl. No. 18/106,137.
Application 18/106,137 is a continuation of application No. 17/395,668, filed on Aug. 6, 2021, granted, now 11,712,308.
Application 17/395,668 is a continuation of application No. 16/509,651, filed on Jul. 12, 2019, granted, now 11,123,143.
Application 16/509,651 is a continuation of application No. 15/288,769, filed on Oct. 7, 2016, granted, now 10,350,012.
Application 15/288,769 is a continuation of application No. 11/750,815, filed on May 18, 2007, granted, now 9,492,237.
Claims priority of provisional application 60/801,378, filed on May 19, 2006.
Prior Publication US 2023/0181264 A1, Jun. 15, 2023
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 surgical system, comprising:
a base;
a robotic arm extending from the base;
a first marker mounted relative to the base;
a second marker coupled to the robotic arm;
a detector configured to detect the first marker and the second marker; and
a computing system programmed to:
control the robotic arm in a free mode during a registration procedure; and
define a coordinate transformation of the first marker relative to a reference point on the base based on a position of the first marker detected by the detector and a plurality of positions of the second marker detected by the detector as the robotic arm is moved by a user in the free mode.