Granted Patent
B2
US 12,383,344 · App. 18/106,150 · Granted Aug 12, 2025
Surgical system with occlusion detection
Assignee:
MAKO Surgical Corp.
A61B34/20A61B17/1764A61B34/10A61B34/30A61B34/71A61B34/76A61B90/03A61B2017/00119A61B2017/00694A61B2017/00712A61B2017/00725A61B2034/102A61B2034/107A61B2034/108A61B2034/2055A61B2034/2059A61B2034/2065A61B2034/2068A61B2034/207A61B2034/2072A61B34/25A61B2034/305A61B2090/363A61B2090/364A61B2090/3983
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Abstract
A method includes controlling a robotic system using a virtual boundary and based on optical tracking of a tracker, detecting a condition in which an optical detection device is occluded from detecting the tracker, and maintaining the virtual boundary if the condition persists for shorter than a predetermined period of time.
Claims (37)
1. A surgical system, comprising
a surgical tool configured to interact with an anatomy;
a robotic system coupled to the surgical tool;
a tracking system comprising:
a tracker coupled to the robotic system, the surgical tool, or the anatomy; and
an optical detection device that is configured to detect the tracker; and
a computing system that:
controls the robotic system using a virtual boundary;
detects existence of a condition wherein the optical detection device is occluded from detecting the tracker;
maintains the virtual boundary in response to the condition ceasing to exist before expiration of a predetermined period of time;
places the robotic system in a free mode in response to the condition persisting for at least the predetermined period of time; and
generates a fault signal in response to a determination that a movement of the tracker violates a limit.
2. The surgical system of claim 1 , wherein the computing system to maintains the virtual boundary during the predetermined period of time.
3. The surgical system of claim 1 , wherein the computing system disables the surgical tool during the predetermined period of time.
4. The surgical system of claim 3 , wherein the computing system re-enables the surgical tool if the condition ceases to exist before the expiration of the predetermined period of time.
5. The surgical system of claim 1 , wherein the computing system provides a visual or audible alert relating to the condition to a user during the predetermined period of time.
6. The surgical system of claim 1 , wherein the computing system resets, in response to the condition ceasing to exist before the expiration of the predetermined period of time, a low pass filter used by the tracking system.
7. The surgical system of claim 1 , wherein the predetermined time period is one second.
8. A method, comprising:
controlling a robotic system using a virtual boundary and based on optical tracking of a tracker;
detecting a condition in which an optical detection device is occluded from detecting the tracker;
maintaining the virtual boundary in response to the condition persisting for shorter than a predetermined period of time; and
providing an audible alert during the predetermined period of time in response to the condition.
9. The method of claim 8 , further comprising maintaining the virtual boundary during the predetermined period of time.
10. The method of claim 8 , further comprising placing the robotic system in a free mode in response to the condition persisting for at least the predetermined period of time.
11. The method of claim 8 , further comprising:
disabling a tool of the robotic system in response to the condition; and
re-enabling the tool in response to the condition persisting for shorter than the predetermined period of time.
12. The method of claim 8 , further comprising generating a fault signal in response to a determination that a movement of the tracker violates a limit.
13. One or more non-transitory computer-readable media storing program instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
controlling a robotic system using a virtual boundary and based on optical tracking of a tracker;
determining existence of a condition in which an optical detection device is occluded from detecting the tracker;
disabling a tool in response to existence of the condition and re-enabling the tool in response to the condition ceasing to exist before expiration of a predetermined period of time;
maintaining the virtual boundary in response to the condition ceasing to exist before expiration of the predetermined period of time; and
generating a fault signal in response to a determination that a movement of the tracker violates a limit.
14. The one or more non-transitory computer-readable media of claim 13 , wherein the operations further comprise maintaining the virtual boundary during the predetermined period of time.
15. The one or more non-transitory computer-readable media of claim 13 , wherein the operations further comprise stopping, in response to the fault signal, power to a tool interfacing with the robotic arm.
Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Jun 6, 2025
From: KANG, HYOSIG; MOSES, DENNIS; QUAID, ARTHUR
To: MAKO SURGICAL CORP.
Reel/Frame 071345/0308 →
Continuity (6)
Provisional Application
60801378
· May 19, 2006
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