Patent ID: 11950856
Assignee: MAKO SURGICAL CORP.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A

Claim 18:
19. A method, comprising:

providing, by a robotic device using a control object having a planned geometric relationship with a bone, physical alignment of an instrument coupled to the robotic device with a target at the bone;
optically tracking movement of a trackable marker coupled to the anatomic feature;
virtually moving the control object to compensate for the movement of the trackable maker based on the optically tracking the movement of the trackable marker; and
providing, by the robotic device using the control object in accordance with the moving the control object, physical realignment of the instrument with the target

wherein providing the realignment comprises comparing a position of the instrument with the control object while providing an interpolation of positions of the control object, the interpolation configured to reduce jumpiness associated with a difference in frequency of the tracking the trackable marker and control operations of the robotic device.