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

Claim 6:
7. 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; and
physically realigning, via the operation of the robotic device, the surgical tool with the target using the moved control object, wherein the operation of the robotic device comprises generating feedback based on an interaction between a position of the surgical tool and the control object, wherein generating the feedback comprises interpolating positions for the control object to reduce jumpiness of the feedback associated with a difference in frequency of optically tracking the array and controlling the robotic device.