Patent ID: 9060794
Filing Date: 2015-06-23
Classification: A61B

Abstract:
1. A robotic surgery system for cutting a bone of a patient, comprising: a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone, the handheld manipulator comprising: a controller operatively coupled to the manipulator and configured to operate one or more actuators within the actuator assembly to cause the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone; and a tracking subsystem configured to determine a position of the end effector portion relative to the bone cutting envelope, wherein the tracking subsystem comprises a mechanical tracking arm having a first end and a second end mechanically coupled between a coupling interface on the manipulator housing at the first end and a coupling interface configured to be positioned on the bone at the second end; and wherein the mechanical tracking arm is operatively coupled to the controller to allow the controller to calculate the spatial position of the end effector relative to the bone.