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

Claim 15:
16. A method comprising:
providing, by a robotic device using a control object having a planned geometric relationship with a bone, physical alignment of an instrument coupled to the robotic device with a target at the bone;
optically tracking movement of a trackable marker coupled to the anatomic feature;
virtually moving the control object to compensate for the movement of the trackable maker based on the optically tracking the movement of the trackable marker; and
providing, by the robotic device using the control object in accordance with the moving the control object, physical realignment of the instrument with the target
wherein tracking the movement of the trackable marker comprises optically collecting a position of the trackable marker and adding an offset based on a product of a velocity of the trackable marker and a latency associated with optically collecting the position of the trackable marker.