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

Claim 13:
14. The surgical system of claim 13, wherein:
the boundary handler is configured to determine whether the tool is in compliance with the virtual boundary or is in violation of the virtual boundary in response to the control system switching operation of the manipulator from one of the manual and semi-autonomous modes to the other of the manual and semi-autonomous modes;
the control system comprises a path handler configured to generate a lead-in path from a current position of the tool to the tool path when the manipulator switches from the manual mode to the semi-autonomous mode; and the boundary handler is configured to determine whether movement of the tool along the lead-in path would maintain compliance with the virtual boundary or would violate the virtual boundary;
the boundary handler is configured to determine whether movement of the tool along the lead-in path would maintain compliance with the virtual boundary or would violate the virtual boundary by modeling motion of a plurality of stereotactic interaction features associated with the tool to determine if the stereotactic interaction features would maintain compliance with the virtual boundary or would violate the virtual boundary;
the boundary handler is configured to model motion of the plurality of stereotactic interaction features in three or more degrees of freedom; and
the control system comprises a guide handler configured to generate user feedback to the user in response to the boundary handler determining that the tool would violate the virtual boundary if the tool moved from the current position, along the lead-in path, to the tool path.