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

Claim 0:
1. A method of operating a robotic device coupled to a surgical tool, the method comprising:
allowing manual movement of the surgical tool along at least one direction;
physically aligning, via operation of the robotic device, the surgical tool with a target using a control object having a planned geometric relationship with a bone;
optically tracking movement of an array coupled to the bone during a surgical procedure;
virtually moving the control object to compensate for the movement of the array during the surgical procedure by adjusting a changed position of the control object by an amount based on a product of a velocity value and a latency associated with the optically tracking the movement of the array; and
physically realigning, via the operation of the robotic device, the surgical tool with the target using the moved control object.