Patent ID: 11937881
Assignee: MAKO SURGICAL CORP.
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 14:
15. A system for tracking a physical object, comprising:
a robotic device;
an instrument attached to the robotic device and configured to remove material from a bone, the robotic device being configured to operate in an autonomous mode in which the robotic device moves autonomously to move the instrument along a predefined tool path to remove the material from the bone;
a vision device attached to one of the robotic device or the instrument such that the vision device is movable with the robotic device; and
one or more controllers having at least one processor and being in communication with the vision device, the one or more controllers being configured to:
generate, with the vision device and during the autonomous movement of the robotic device to move the instrument along the predefined tool path to remove the material from the bone, vision data sets captured from multiple perspectives of the physical object enabled by the vision device being moved in a plurality of degrees of freedom as a result of the autonomous movement of the robotic device to move the instrument along the predefined tool path;
associate a virtual object with the physical object based on one or more features of the physical object identifiable in the vision data sets, wherein the virtual object at least partially defines a virtual boundary;
track a pose of the vision device relative to a known coordinate system at each location of the vision device in which the vision data sets are generated;
locate each of the one or more features relative to the known coordinate system based on the vision data sets and the pose the vision device relative to the known coordinate system at each location of the vision device in which the vision data sets are generated;
determine a pose of the physical object relative to the known coordinate system based on the one or more located features; and
constrain the autonomous movement of the robotic device relative to the physical object utilizing the virtual boundary such that the robotic device does not exceed the virtual boundary during the autonomous movement based on the determined pose of the physical object relative to the known coordinate system.