Patent ID: 11857149
Assignee: GLOBUS MEDICAL INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A method of operating a surgical robotic system including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient, the method comprising:
receiving position information generated using an optical sensor system remote from the robotic arm and remote from the patient, wherein the position information includes position information relating to a tracking device affixed to the patient and position information relating to a tracking device affixed to the surgical end-effector;
controlling the robotic arm to move the surgical end-effector to a target trajectory relative to the anatomical location of the patient based on the generated position information;
after controlling the robotic arm to move to the target trajectory relative to the anatomical location of the patient, controlling the robotic arm to lock a position of the surgical end-effector;
while the position of the surgical end-effector is locked, continuously determining a deviation between an actual trajectory of the surgical end-effector with respect to the anatomical location and a target trajectory of the surgical end-effector with respect to the anatomical location based on the optical sensor system continuously generating the position information based on the tracking devices on the patient and the end-effector; and
continuously generating a user output indicating the deviation, wherein the user output is generated responsive to determining the deviation
wherein the deviation is determined based on the positioning information generated using the remote sensor system of the surgical end-effector;
wherein determining the deviation includes determining the deviation dynamically based on a model of movement of the anatomical location relative to the tracking device for a plurality of phases of a breathing cycle;
wherein a first offset of the anatomical location relative to the tracking device that is used to determine the target trajectory for a first phase of a breathing cycle and a second offset of the anatomical location relative to the tracking device that is used to determine the target trajectory for a second phase of the breathing cycle; and
wherein generating the user output may thus include generating the user output dynamically to indicate the deviations based on the offsets for the plurality of phases of the breathing cycle in real time; and
moving the robotic arm based on the deviations.