US 11,850,011 B2
Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
Douglas Alan Staunton, Kalamazoo, MI (US); Paul Hoekstra, Kalamazoo, MI (US); and Michael Dale Dozeman, Portage, MI (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Nov. 24, 2021, as Appl. No. 17/534,499.
Application 17/534,499 is a continuation of application No. 15/840,278, filed on Dec. 13, 2017, granted, now 11,202,682.
Claims priority of provisional application 62/435,254, filed on Dec. 16, 2016.
Prior Publication US 2022/0079692 A1, Mar. 17, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/32 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 34/76 (2016.02); A61B 34/77 (2016.02); A61B 34/10 (2016.02); A61B 34/32 (2016.02); A61B 2034/104 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/2074 (2016.02); Y10S 901/09 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of operating a robotic surgical system, the robotic surgical system comprising a surgical tool including a tool center point (TCP) and the surgical tool being configured to manipulate a target bone, a manipulator comprising a plurality of links and being configured to support the surgical tool, a navigation system comprising a localizer configured to monitor states of the manipulator and the target bone, and one or more controllers coupled to the manipulator and the navigation system, and with the method comprising the one or more controllers performing the steps of:
determining, using data from one or more of the manipulator and the navigation system, commanded states of the TCP for moving the surgical tool along a cutting path relative to the target bone for removing material from the target bone in preparation for an implant;
determining, using the data from one or more of the manipulator and the navigation system, actual states of the TCP responsive to commanded movement of the surgical tool along the cutting path relative to the target bone, wherein each one of the commanded states of the TCP has a corresponding one of the actual states of the TCP for a given time step;
comparing the corresponding commanded and actual states of the TCP for one or more given time steps for determining a deviation between the corresponding commanded and actual states; and based on an outcome of comparing the corresponding commanded and actual states of the TCP, modifying operation of the surgical tool to account for the deviation.