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:
Dec. 31, 2024
Filed:
Jan. 05, 2023
Mako Surgical Corp., Weston, 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., Weston, FL (US);
Abstract
Robotic surgical systems and methods for controlling movement of a tool relative to a tool path. An input is received from a force/torque sensor in response to user forces/torques manually applied to the tool by a user. A component of force is calculated tangential to the path based on the input. An effective feed rate is calculated to advance the tool along the path based on the tangential component. Virtual constraints are defined on movement of the tool along the path with respect to three degrees of freedom and based on the effective feed rate to promote movement of the tool along the path. Dynamics of the tool are virtually simulated based on the virtual constraints and the input from the force/torque sensor. The manipulator is commanded to advance the tool along the path based on the virtual simulation.