Patent ID: 11857201
Assignee: MAKO SURGICAL CORP.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A surgical system, comprising:
a tool;
a robotic device configured to be coupled to the tool; and
a controller comprising a processor and non-transitory computer-readable memory storing instructions that, when executed, cause the processor to perform operations comprising:
controlling the robotic device in a first mode that provides automatic movement of the tool to a virtual plane correlated with an anatomical structure from a starting position away from the virtual plane; and
switching, based on arrival of the tool at the virtual plane via the automatic movement, from the first mode to a second mode;
controlling, in the second mode, the robotic device to force the tool to stay at the virtual plane while allowing manual repositioning of the tool along the virtual plane.