Patent ID: 11918305
Assignee: STRYKER CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A  Y | IPC A

Claim 8:
9. A method of operating a surgical system, the surgical system comprising one or more controllers, a robotic manipulator, a surgical instrument coupled to the robotic manipulator and being moveable by the robotic manipulator, and a navigation system including a first tracker coupled to a first bone, a second tracker coupled to a second bone, and a localizer configured to track each of the first tracker, the second tracker, and the surgical instrument, wherein the first bone and the second bone are moveable relative to each other, the method comprising the one or more controllers:
associating a first virtual boundary with the first bone;
associating a second virtual boundary with the second bone; and
controlling the robotic manipulator in relation to the first virtual boundary to facilitate manipulation of the first bone by the surgical instrument and simultaneously controlling the robotic manipulator in relation to the second virtual boundary to avoid interaction of the surgical instrument with the second bone while accounting for movement of the first virtual boundary and the second virtual boundary relative to each other that is based on the tracked first and second trackers.