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:
May. 16, 2023
Filed:
May. 11, 2021
Stryker Corporation, Kalamazoo, MI (US);
David Gene Bowling, Los Ranchos De Albuquerque, NM (US);
Timothy J. Bozung, Scotts, MI (US);
Stryker Corporation, Kalamazoo, MI (US);
Abstract
A robotic device includes one or more actuators to position an end effector in a plurality of degrees of freedom. A navigation system tracks an actual position of the end effector. A controller identifies a condition wherein the actual position of the end effector contacts a virtual constraint. The controller determines that an anticipated movement of the end effector from an actual position to the home position would cause a collision between the end effector and a virtual constraint and computes a target position of the end effector that avoids the collision. The target position is spaced from the actual position and computed with respect to the virtual constraint. The one or more actuators are controlled to move the end effector from the actual position to target position along the virtual constraint.