The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 31, 2023
Filed:
Mar. 06, 2020
Mako Surgical Corp., Ft. Lauderdale, FL (US);
Helmut Rohs, Freiburg, DE;
Michael Dale Dozeman, Portage, MI (US);
Bharat Arora, San Francisco, CA (US);
Michael Ferko, Warwick, NY (US);
Patrick Roessler, Merzhausen, DE;
Richard Thomas DeLuca, Kalamazoo, MI (US);
David Gene Bowling, Los Ranchos De Albuquerque, NM (US);
MAKO Surgical Corp., Ft, Lauderdale, FL (US);
Abstract
A robotic surgical system comprises a surgical tool, a manipulator configured to support the surgical tool, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a three-dimensional milling path for the surgical tool. The control system also receives one or more signals from the force/torque sensor in response to a user manually applying user forces and torques to the surgical tool. The control system determines a commanded pose to which to command the manipulator to advance the surgical tool along the milling path based on a tangential component of the user forces and torques, based on a virtual simulation using virtual constraints, and/or based on other suitable factors to promote guided, manual movement of the surgical tool along the milling path.