US 12,465,442 B2
Robotic surgical systems and methods for mitigating skiving between rotary cutting tool and cortical bone
Jamil Elbanna, San Diego, CA (US); Michael Prieto, Miami Springs, FL (US); Vijay Subramanian, Weston, FL (US); and Jienan Ding, Weston, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Mar. 26, 2024, as Appl. No. 18/616,252.
Application 18/616,252 is a continuation of application No. 17/724,634, filed on Apr. 20, 2022, granted, now 11,986,260.
Application 17/724,634 is a continuation of application No. 16/816,782, filed on Mar. 12, 2020, granted, now 11,337,766, issued on May 24, 2022.
Claims priority of provisional application 62/819,077, filed on Mar. 15, 2019.
Prior Publication US 2024/0268904 A1, Aug. 15, 2024
Int. Cl. A61B 34/30 (2016.01); A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/1615 (2013.01); A61B 17/1626 (2013.01); A61B 17/1757 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/306 (2016.02); A61B 2090/062 (2016.02); A61B 2090/066 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical system configured for manipulation of a bone structure comprising a cortical region, the surgical system comprising:
a surgical tool comprising a cutting bur rotatable about a cutting axis;
a robotic manipulator comprising a plurality of links and joints and being configured to support and move the surgical tool;
one or more sensors configured to sense forces applied to the cutting bur; and
one or more controllers coupled to the surgical tool, the robotic manipulator, and the one or more sensors, and being configured to:
control the robotic manipulator to align the cutting axis to a target axis associated with the bone structure and to advance the cutting bur along the target axis towards the cortical region;
control the surgical tool to rotate the cutting bur about the cutting axis and to contact the cortical region of the bone structure with the cutting bur;
detect, from the one or more sensors, forces applied to the cutting bur by the cortical region;
compare the sensed forces to a predetermined force threshold that is indicative of skiving of the cutting bur relative the cortical region; and
in response to the sensed forces exceeding the predetermined force threshold, adjust control of one or both of the robotic manipulator and surgical tool to reduce forces applied to the cutting bur by the cortical region.