US 9,812,035 B2
System and method for demonstrating planned autonomous manipulation of an anatomy
John Michael Stuart, Rio Rancho, NM (US); Jerry A. Culp, Kalamazoo, MI (US); and Jose Luis Moctezuma de la Barrera, Freiburg (DE)
Assigned to MAKO SURGICAL CORP., Fort Lauderdale, FL (US)
Filed by MAKO Surgical Corp., Ft. Lauderdale, FL (US)
Filed on May 19, 2016, as Appl. No. 15/158,909.
Claims priority of provisional application 62/163,654, filed on May 19, 2015.
Prior Publication US 2016/0343273 A1, Nov. 24, 2016
Int. Cl. G06F 19/00 (2011.01); G09B 23/28 (2006.01); B25J 9/16 (2006.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 34/00 (2016.01); A61B 17/16 (2006.01); A61B 90/00 (2016.01); A61B 34/10 (2016.01)
CPC G09B 23/28 (2013.01) [A61B 17/16 (2013.01); A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 34/77 (2016.02); B25J 9/1666 (2013.01); B25J 9/1676 (2013.01); A61B 2034/107 (2016.02); A61B 2034/303 (2016.02); A61B 2090/062 (2016.02); A61B 2090/08021 (2016.02)] 32 Claims
OG exemplary drawing
 
1. A robotic surgical system for manipulating an anatomy and demonstrating planned autonomous manipulation of the anatomy, said system comprising:
an end effector being configured to manipulate the anatomy;
a demonstrative tool being configured to interact with the anatomy;
a controller configured to generate manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by said end effector in a first mode and generate demonstrative parameters relating to said manipulation parameters and defined in relation to a surface of the anatomy such that said demonstrative parameters are less invasive to the anatomy than said manipulation parameters and wherein said controller is configured to instruct movement of said demonstrative tool in accordance with said demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.