US 12,484,984 B2
Surgical systems and methods for dynamic virtual boundary adjustment
David G Bowling, Los Ranchos De Albuquerque, NM (US); John Michael 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, Portage, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on Apr. 24, 2024, as Appl. No. 18/644,182.
Application 14/841,062 is a division of application No. 13/958,070, filed on Aug. 2, 2013, granted, now 9,119,655, issued on Sep. 1, 2015.
Application 18/644,182 is a continuation of application No. 18/121,617, filed on Mar. 15, 2023, granted, now 12,004,836.
Application 18/121,617 is a continuation of application No. 17/347,999, filed on Jun. 15, 2021, granted, now 11,639,001, issued on May 2, 2023.
Application 17/347,999 is a continuation of application No. 16/409,024, filed on May 10, 2019, granted, now 11,045,958, issued on Jun. 29, 2021.
Application 16/409,024 is a continuation of application No. 15/401,567, filed on Jan. 9, 2017, granted, now 10,314,661, issued on Jun. 11, 2019.
Application 15/401,567 is a continuation of application No. 14/841,062, filed on Aug. 31, 2015, granted, now 9,566,125, issued on Feb. 14, 2017.
Claims priority of provisional application 61/792,251, filed on Mar. 15, 2013.
Claims priority of provisional application 61/679,258, filed on Aug. 3, 2012.
Prior Publication US 2024/0293197 A1, Sep. 5, 2024
Int. Cl. A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01); B25J 13/00 (2006.01); A61B 17/16 (2006.01)
CPC A61B 34/74 (2016.02) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 34/76 (2016.02); B25J 9/161 (2013.01); B25J 9/1633 (2013.01); B25J 13/00 (2013.01); A61B 17/16 (2013.01); A61B 2034/104 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); Y10S 901/09 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a pointer tool;
a navigation system comprising a localizer configured to track the pointer tool;
a surgical manipulator configured to support and move a surgical instrument, wherein the surgical instrument includes an energy applicator configured to manipulate a bone at a surgical site; and
one or more controllers coupled to the navigation system and the surgical manipulator and being configured to:
generate a virtual boundary relative to the bone, wherein the virtual boundary comprises a shape that delineates a region of the bone to be removed by the energy applicator from a region to be avoided by the energy applicator;
identify, with the navigation system, a position of one or more landmarks at the surgical site in response to the pointer tool touching the one or more landmarks at the surgical site;
revise the shape of the virtual boundary based on the position of the one or more landmarks; and
control the surgical manipulator to constrain the energy applicator from movement beyond the virtual boundary.