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:
Nov. 18, 2025
Filed:
Mar. 23, 2022
Mako Surgical Corp., Weston, FL (US);
David Gene Bowling, Los Ranchos De Albuquerque, NM (US);
Richard Thomas Deluca, Kalamazoo, MI (US);
Michael Dale Dozeman, Portage, MI (US);
Patrick Roessler, Merzhausen, DE;
Michael Ferko, Warwick, NY (US);
Gregory Garcia, Parkland, FL (US);
Rishabh Khurana, Fort Lauderdale, FL (US);
MAKO Surgical Corp., Weston, FL (US);
Abstract
Systems and methods are provided for guiding movement of a tool. The system includes a tool and a manipulator. A guide handler obtains a target state for the tool and generates virtual constraints based on the target state and a current state of the tool. A constraint solver calculates a constraint force adapted to attract the tool toward the target state or repel the tool away from the target state based on the virtual constraints. A virtual simulator simulates dynamics of the tool in a virtual simulation based on the constraint force and input from one or more sensors, to output a commanded pose. The control system commands the manipulator to move the tool based on the commanded pose to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.