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

Claim 13:
14. A method for operating a system 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 according to a fixed relationship 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 method comprising the steps of:
generating, 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 a 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;
associating, with the one or more controllers, a virtual object with the physical object based on a set of features of the physical object identifiable in the vision data sets, wherein the virtual object defines a virtual boundary;
determining a position of each of the features relative to the vision device based on the vision data sets to establish a pose the physical object relative to the vision device;
determining a pose of the one of the robotic device or the instrument relative to a known coordinate system;
determining a pose of the physical object relative to the known coordinate system based on the determined pose of the one of the robotic device or the instrument relative to the known coordinate system, the pose of the physical object relative to the vision device, and the fixed relationship; and
automatically setting an adjusted tool path for the autonomous movement of the robotic device so as to not exceed the virtual boundary based on the determined poses of the physical object and the one of the robotic device or the instrument relative the known coordinate system.