US 12,103,166 B2
Device for improving the accuracy of manual operations
Moshe Shoham, Hoshaya (IL)
Assigned to MAZOR ROBOTICS LTD., Caesarea (IL)
Filed by MAZOR ROBOTICS LTD., Caesarea (IL)
Filed on Sep. 15, 2020, as Appl. No. 17/021,723.
Application 17/021,723 is a continuation of application No. 13/390,500, granted, now 10,828,786, previously published as PCT/IL2010/000667, filed on Aug. 17, 2010.
Claims priority of provisional application 61/272,109, filed on Aug. 17, 2009.
Prior Publication US 2020/0406480 A1, Dec. 31, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 17/02 (2006.01); A61B 17/16 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); B25J 9/16 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC B25J 17/0216 (2013.01) [A61B 17/1675 (2013.01); A61B 34/30 (2016.02); B25J 9/1676 (2013.01); A61B 2017/00106 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/304 (2016.02); A61B 2090/061 (2016.02)] 26 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a handheld robotic operating head comprising:
a first part comprising a platform and a robotic mechanism, the robotic mechanism configured to selectively move the platform, and the platform being configured to bear an operating tool; and
a second part comprising a handle and a base, wherein the base is positioned between the robotic mechanism and the handle, and wherein the handle enables an operator's hand to grip and maneuver the robotic operating head; and
a controller that controls the robotic mechanism according to a signal received from a tracking system, the signal corresponding to a position of the operating tool relative to an allowed region, wherein:
(i) when the signal indicates that the operating tool is within the allowed region, the robotic mechanism remains in an inactive rigid mode in which the robotic mechanism does not move the platform relative to the base and the handle; and
(ii) when the signal indicates that the operating tool has reached a forbidden region, the controller automatically causes the robotic mechanism to move the platform relative to the base and the handle such that the operating tool remains in the allowed region.