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

Claim 28:
29. The method of claim 28, comprising:
determining whether the tool is in compliance with the virtual boundary or is in violation of the virtual boundary in response to switching operation of the manipulator from one of the manual and semi-autonomous modes to the other of the manual and semi-autonomous modes;
generating 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;
determining 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;
modeling motion of the plurality of stereotactic interaction features in three or more degrees of freedom; and
generating user feedback to the user in response to 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.