US 12,472,003 B2
Systems and methods for guiding movement of a tool
David Gene Bowling, Los Ranchos De Albuquerque, NM (US); Richard Thomas DeLuca, Kalamazoo, MI (US); Michael Dale Dozeman, Portage, MI (US); Patrick Roessler, Merzhausen (DE); Michael Ferko, Warwick, NY (US); Gregory Garcia, Parkland, FL (US); and Rishabh Khurana, Fort Lauderdale, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Mar. 23, 2022, as Appl. No. 17/701,989.
Application 17/701,989 is a continuation of application No. PCT/US2020/053548, filed on Sep. 30, 2020.
Claims priority of provisional application 62/908,056, filed on Sep. 30, 2019.
Prior Publication US 2022/0233251 A1, Jul. 28, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/35 (2016.02); A61B 34/76 (2016.02); A61B 2034/104 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/066 (2016.02)] 32 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a tool;
a manipulator to support the tool and move the tool in response to user forces and torques applied to the tool by a user;
one or more sensors to measure forces and torques applied to the tool; and
a control system comprising:
a guide handler to obtain a target state for the tool and generate one or more virtual constraints based on a relationship between the target state and a current state of the tool, wherein the target state comprises a target position, a target orientation, or a target pose, and the current state comprises a current position, a current orientation, or a current pose;
a constraint solver to calculate constraint forces adapted to attract the tool toward the target state or repel the tool away from the target state based on the one or more virtual constraints generated by the guide handler; and
a virtual simulator to simulate dynamics of the tool in a virtual simulation based on input from the one or more sensors and the constraint forces calculated by the constraint solver, and to output commanded poses,
the control system being configured to command the manipulator to move the tool based on the commanded poses outputted by the virtual simulator, and to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.