Patent ID: 11944396
Assignee: MAKO SURGICAL CORP.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 5:
6. The surgical system of claim 5, wherein the boundary handler is operable between a boundary-enabled state in which boundary constraints are being transmitted from the boundary handler to the constraint solver to thereby enable autonomous, boundary-complying movement of the tool when the virtual boundary moves relative to the tool in a manner that would otherwise cause the tool to violate the virtual boundary and a boundary-disabled state in which boundary constraints are no longer being transmitted from the boundary handler to the constraint solver to thereby disable autonomous, boundary-complying movement of the tool such that the virtual boundary is movable relative to the tool in a manner that causes the tool to violate the virtual boundary, the boundary handler being configured to:
operate in the boundary-disabled state in response to the user input transitioning from the first input state to the second input state;
operate in the boundary-enabled state in response to the user input transitioning from the second input state to the first input state with the tool in compliance with the virtual boundary; and
operate in the boundary-disabled state in response to the user input transitioning from the second input state to the first input state with the tool in violation of the virtual boundary.