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

Claim 8:
9. A surgical system, comprising:

a surgical tool;
a robotic system coupled to the surgical tool and programmed to:
allow manual movement of the surgical tool along at least one direction;
physically align the surgical tool with a target using a control object having a planned geometric relationship with a bone;
virtually move the control object to compensate for optically-tracked movement of a trackable marker coupled to the bone during a surgical procedure; and
physically realign the surgical tool with the target using the moved control object;

wherein the robotic system is programmed to realign the surgical tool with the target using the moved control object by adjusting the moved control object is adjusted by an amount based on a product of a velocity value and a latency associated with tracking the trackable marker and comparing a position of the surgical tool with the moved control object.