US 12,364,558 B2
Robotic cutting systems and methods for surgical saw blade cutting on hard tissue
Seamus Gilhooley, Athenry (IE); David Gene Bowling, Los Ranchos De Albuquerque, NM (US); and Paul Shiels, Albuquerque, NM (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Feb. 27, 2023, as Appl. No. 18/114,302.
Application 17/495,014 is a division of application No. 16/131,400, filed on Sep. 14, 2018, granted, now 11,166,775, issued on Nov. 9, 2021.
Application 18/114,302 is a continuation of application No. 17/495,014, filed on Oct. 6, 2021, granted, now 11,633,248.
Claims priority of provisional application 62/559,096, filed on Sep. 15, 2017.
Prior Publication US 2023/0225815 A1, Jul. 20, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 17/14 (2006.01); A61B 17/15 (2006.01); A61B 34/00 (2016.01); A61B 34/32 (2016.01); A61B 17/00 (2006.01); A61B 17/16 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/70 (2016.02) [A61B 17/142 (2016.11); A61B 17/155 (2013.01); A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 2017/00477 (2013.01); A61B 17/15 (2013.01); A61B 2017/1602 (2013.01); A61B 2090/062 (2016.02); A61B 2090/067 (2016.02); A61B 2090/08021 (2016.02); G05B 2219/45117 (2013.01); G05B 2219/45171 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a manipulator comprising a base and a robotic arm coupled to the base;
a saw tool coupled to the robotic arm and configured to perform a cut of a bone; and
a control system coupled to the manipulator and the saw tool and being configured to:
obtain data defining a cutting plane for the bone and a pre-determined depth of the bone to be cut by the saw tool along the cutting plane;
associate a virtual planar boundary with the bone along the cutting plane;
control the manipulator to autonomously align the saw tool to the cutting plane;
activate the saw tool;
control the manipulator to autonomously move the saw tool to create a notch in the bone relative to the cutting plane; and
control the manipulator to autonomously move the saw tool along the cutting plane to perform the cut of the bone, wherein autonomous movement of the saw tool by the manipulator comprises:
autonomous movement of the saw tool into engagement with the notch, wherein the notch is configured to reduce skiving of the saw tool; and
autonomous movement of the saw tool along the cutting plane, such that the saw tool is constrained to remain within the virtual planar boundary and to not exceed the pre-determined depth of the bone to be cut.