System and method for providing substantially stable control of a surgical tool

Number of patents in Portfolio can not be more than 2000

United States of America Patent

PATENT NO 9921712
SERIAL NO

15451257

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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A system for providing substantially stable control of a surgical instrument is provided. The system includes a surgical manipulator for manipulating the surgical instrument and at least one computer configured to identify a first subset and a second subset of interaction geometric primitives associated with a virtual tool; determine, based on the first subset, control forces in a first subspace; and determine based on the second subset, control forces in a second subspace having at least one additional dimension. Control forces in the additional dimension are only determined based on the second subset of primitives, which is different than the first subset of primitives. The computer is further configured to determine a torque to constrain an orientation of the surgical instrument, wherein determining the torque comprises defining a virtual tool normal and a control plane normal and using the virtual tool normal and control plane normal to calculate the torque.

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Patent Owner(s)

  • MAKO SURGICAL CORP.;STRYKER CORPORATION

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Beer, Joel N Albuquerque, US 39 2497
Bowling, David Gene Los Ranchos de Albuquerque, US 64 3093
Culp, Jerry A Kalamazoo, US 47 9663
Kang, Hyosig Weston, US 131 11022
Lightcap, Christopher Alan Davie, US 2 38
Malackowski, Donald W Schoolcraft, US 101 7715
Moctezuma, de la Barrera Jose Luis Freiburg, DE 44 3868
Roessler, Patrick Merzhausen, DE 48 2350
Stuart, John Michael Rio Rancho, US 36 2109

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