Patent ID: 11864852
Assignee: MAKO SURGICAL CORP.
Field: Medical technology (Instruments)
Classification: CPC A  B  G | IPC A  B  G

Claim 0:
1. A surgical robotic system comprising:
a manipulator including a plurality of links and joints;
a tool coupled to the manipulator and the tool being configured to remove material from a workpiece; and
one or more controllers coupled to the manipulator, the one or more controllers being configured to:
generate a first tool path to remove a first portion of material from the workpiece;
control the manipulator to position the tool for movement along the first tool path to remove the first portion of material from the workpiece;
sense interaction between the tool and the workpiece during movement of the tool along the first tool path to determine a density of the workpiece;
generate a second tool path to remove a second portion of material from the workpiece, wherein generation of the second tool path is based, at least in part, on the sensed interaction between the tool and the workpiece during movement of the tool along the first tool path; and
control the manipulator to position the tool for movement along the second tool path to remove the second portion of material from the workpiece and to account for the density of the workpiece by being configured to control one or both of: a feed rate of the tool and a cutting speed of the tool.