Patent ID: 11857200
Assignee: MAKO SURGICAL CORP.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 16:
17. A method of operation of a robotically-assisted surgical device, comprising:
defining, by one or more processors, a virtual trajectory relative to a patient position;
defining, by the one or more processors, a virtual boundary based on spaced from the virtual trajectory;
tracking, by a tracking system, the patient position and an end effector position relative to the patient position in real time during manual movement of an end effector coupled to a robotic arm;
determining, by the one or more processors, whether the end effector position crossed from a first side of the virtual boundary to a second side of the virtual boundary based on the patient position and the end effector position obtained during the manual movement of the end effector, wherein the virtual trajectory is on the second side of the virtual boundary; and
upon determining that the end effector position crossed to the second side of the virtual boundary, controlling the robotic arm in an automatic mode so that the robotic arm moves to automatically align the end effector with the virtual trajectory.