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

Claim 14:
15. A robotic surgical system for performing surgery, the system comprising:
a robotic arm comprising a force and/or torque control end effector configured to hold a first surgical tool;
an actuator for controlled movement of the robotic arm and/or positioning of the end-effector;
a tracking detector for real time detection of (i) surgical tool position and/or end effector position and (ii) patient position; and
a processor and non-transitory memory storing instructions that, when executed by the processor, cause the processor to:
access or generate a virtual representation of a patient situation;
provide a virtual trajectory for the end effector to move along and a virtual boundary spaced from the virtual trajectory;
obtain (i) the surgical tool position and/or the end effector position and (ii) the patient position from the tracking detector while a surgeon is manually moving the end effector;
determine whether the manually moving end effector causes the end effector to cross from a first side of the virtual boundary to a second side of the virtual boundary, wherein the virtual trajectory is on the second side of the virtual boundary;
upon determination that the end effector crossed to the second side of the virtual boundary, switch into an automatic mode in which the processor controls the robotic arm to automatically move the end effector into alignment with the virtual trajectory; and
maintain the end effector position along the virtual trajectory.