US 12,070,288 B2
Robotic system and method for removing a volume of material from a patient
David G. Bowling, Los Ranchos De Albuquerque, NM (US); John M. Stuart, Rio Rancho, NM (US); Jerry A. Culp, Kalamazoo, MI (US); Donald W. Malackowski, Schoolcraft, MI (US); José Luis Moctezuma de la Barrera, Freiburg (DE); Patrick Roessler, Merzhausen (DE); and Joel N Beer, Albuquerque, NM (US)
Assigned to Stryker Corporation, Kalamazoo, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on Apr. 24, 2023, as Appl. No. 18/138,315.
Application 18/138,315 is a continuation of application No. 17/511,627, filed on Oct. 27, 2021, granted, now 11,672,620.
Application 17/511,627 is a continuation of application No. 16/555,838, filed on Aug. 29, 2019, granted, now 11,179,210, issued on Nov. 23, 2021.
Application 16/555,838 is a continuation of application No. 15/595,343, filed on May 15, 2017, granted, now 10,426,560, issued on Oct. 1, 2019.
Application 15/595,343 is a continuation of application No. 14/739,146, filed on Jun. 15, 2015, granted, now 9,681,920, issued on Jun. 20, 2017.
Application 14/739,146 is a continuation of application No. 14/208,293, filed on Mar. 13, 2014, granted, now 9,226,796, issued on Jan. 5, 2016.
Application 14/208,293 is a continuation in part of application No. 13/958,070, filed on Aug. 2, 2013, granted, now 9,119,655, issued on Sep. 1, 2015.
Application 14/739,146 is a continuation in part of application No. 13/958,070, filed on Aug. 2, 2013, granted, now 9,119,655, issued on Sep. 1, 2015.
Claims priority of provisional application 61/679,258, filed on Aug. 3, 2012.
Claims priority of provisional application 61/792,251, filed on Mar. 15, 2013.
Prior Publication US 2023/0255708 A1, Aug. 17, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 17/16 (2006.01); A61B 18/14 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 34/37 (2016.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/00 (2006.01); B25J 13/08 (2006.01); G16H 40/63 (2018.01); A61B 18/00 (2006.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/70 (2016.02) [A61B 17/16 (2013.01); A61B 17/1626 (2013.01); A61B 18/148 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 34/37 (2016.02); A61B 34/76 (2016.02); B25J 9/009 (2013.01); B25J 9/1633 (2013.01); B25J 13/00 (2013.01); B25J 13/085 (2013.01); G16H 40/63 (2018.01); A61B 2018/00565 (2013.01); A61B 2018/00601 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2046 (2016.02); A61B 2090/066 (2016.02); G05B 2219/40191 (2013.01); G05B 2219/45117 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a manipulator configured to support and move a surgical instrument; and
one or more controllers configured to:
obtain data that defines a volume of tissue to be removed from a surgical site;
operate the manipulator to move the surgical instrument to remove first portions of the volume;
acquire data defining the first portions removed from the volume;
identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal;
generate a tool path that passes through the additional portions; and
operate the manipulator in a semi-autonomous mode to autonomously move the surgical instrument along the tool path to remove the additional portions.