Patent Document ID: 10028789
Application ID: 11750840
Patent Status: 1

Claim One:
1. A method of compensating for motion of objects during a surgical procedure, comprising the steps of: determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device, wherein the surgical device comprises a haptic device; determining an applied wrench applied to the surgical device; defining a relationship between the pose of the anatomy and the surgical tool based on a desired interaction between the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of the surgical tool, wherein the relationship is defined based on a virtual object; associating, with a coordinate system of a representation of the anatomy, the pose of the anatomy, the pose of the surgical tool, and the relationship; updating the association with the coordinate system of the representation of the anatomy in response to motion of the anatomy without interrupting operation of the surgical device during the surgical procedure; dividing a workspace of the surgical device into a first subspace and a second subspace; and providing a hybrid control scheme comprising providing admittance control when the surgical tool is positioned in the first subspace and impedance control when the surgical tool is positioned in the second subspace; wherein providing the admittance control comprises modifying the position of the surgical device based on the applied wrench; and wherein providing the impedance control comprises providing haptic guidance by applying a second wrench to the surgical device, based both on the relationship between the pose of the anatomy and the surgical tool and on the applied wrench, to a user to constrain the user's manipulation of the surgical tool.