Patent ID: 11896314
Assignee: STRYKER CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 14:
15. A system comprising:
an instrument adapted to be manually supported and moved by a user, the instrument including a hand-held portion, a working portion movably coupled to the hand-held portion, a plurality of actuators operatively coupled to the working portion for moving the working portion in a plurality of degrees of freedom relative to the hand-held portion, and a plurality of sensors for sensing positions of the working portion relative to the hand-held portion;
a control system in communication with the actuators to control the actuators to move the working portion in a plurality of degrees of freedom relative to the hand-held portion, the control system being configured to establish a home position of the working portion relative to the hand-held portion and track deflection of the working portion from the home position as the working portion moves in one or more of the plurality of degrees of freedom relative to the hand-held portion; and
wherein the control system is configured to control a cutting speed of the working portion based on the deflection into the deflected position.