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    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
    2.
    发明申请
    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 审中-公开

    公开(公告)号：US20180168750A1

    公开(公告)日：2018-06-21

    申请号：US15840278

    申请日：2017-12-13

    Applicant: MAKO Surgical Corp.

    Inventor： Douglas Alan Staunton ,  Paul Hoekstra ,  Michael Dale Dozeman

    IPC: A61B34/30 ,  A61B34/20 ,  A61B34/00

    Abstract: Systems and methods for operating a robotic surgical system are provided. The system comprises a surgical tool for interacting with a surgical target, a manipulator comprising a plurality of links and supporting the tool, a navigation system comprising a manipulator tracker coupled to the manipulator and a patient tracker coupled to the surgical target and a localizer for monitoring states of the trackers. A controller determines commanded states for moving the tool relative to the surgical target using data (filtered according to a first filter length) from the manipulator and/or navigation system. The controller determines actual states of the tool while commanding the tool relative to the surgical target using data (filtered according to a second filter length being shorter than the first filter length) from the manipulator and/or navigation system. The controller compares the commanded and actual states and modifies tool operation based on an outcome of the comparison.

    Systems And Methods For Tracking Objects
    6.
    发明申请
    Systems And Methods For Tracking Objects 有权

    公开(公告)号：US20230045799A1

    公开(公告)日：2023-02-16

    申请号：US17972625

    申请日：2022-10-25

    Applicant: MAKO Surgical Corp.

    Inventor： Jochen Breisacher ,  David Hofmann ,  Emeric Umbdenstock ,  Jonathan Morgan ,  Paul Hoekstra

    IPC: A61B34/20 ,  H04N5/232

    Abstract: Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.

    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
    7.
    发明授权
    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 有权

    公开(公告)号：US11202682B2

    公开(公告)日：2021-12-21

    申请号：US15840278

    申请日：2017-12-13

    Applicant: MAKO Surgical Corp.

    Inventor： Douglas Alan Staunton ,  Paul Hoekstra ,  Michael Dale Dozeman

    IPC: A61B34/30 ,  A61B34/20 ,  A61B34/00 ,  A61B34/10 ,  A61B34/32

    Abstract: Systems and methods for operating a robotic surgical system are provided. The system comprises a surgical tool for interacting with a surgical target, a manipulator comprising a plurality of links and supporting the tool, a navigation system comprising a manipulator tracker coupled to the manipulator and a patient tracker coupled to the surgical target and a localizer for monitoring states of the trackers. A controller determines commanded states for moving the tool relative to the surgical target using data (filtered according to a first filter length) from the manipulator and/or navigation system. The controller determines actual states of the tool while commanding the tool relative to the surgical target using data (filtered according to a second filter length being shorter than the first filter length) from the manipulator and/or navigation system. The controller compares the commanded and actual states and modifies tool operation based on an outcome of the comparison.

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