Mako Surgical Corporation

Stryker Corporation

Paul Hoekstra

Donald W Malackowski

Douglas Alan Staunton

Chunwu Wu

Michael Dale Dozeman

Matt Shinew

A surgical system and method of operating the same. A manipulator supports and facilitates movement of a surgical tool along a tool path relative to a surgical site. A navigation system includes a localizer to monitor states of the manipulator and the surgical site. Controller(s) determine a commanded state of the surgical tool and an actual state of the surgical tool relative to the tool path for a given time step. The controller(s) detect a deviation between the commanded state and the actual state of the surgical tool for the given time step. The controller(s) respond to the deviation by modification of one or both of: a feed rate of the surgical tool; and the tool path. In some implementations, the controller(s) predict, based on the deviation, a future deviation between a future commanded state and a future actual state of the surgical tool for a given future time step.

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

Growing community of inventors

Kalamazoo, MI, United States of America

Paul Hoekstra