Jerry M Culp

US Patent:

20170177191, Jun 22, 2017

Filed:

Mar 6, 2017

Appl. No.:

15/451257

Inventors:

- Ft. Lauderdale FL, US
Hyosig Kang - Weston FL, US
David Gene Bowling - Los Ranchos de Albuquerque NM, US
John Michael Stuart - Rio Rancho NM, US
Jerry A. Culp - Kalamazoo MI, US
Donald W. Malackowski - Schoolcraft MI, US
Jose Luis Moctezuma de la Barrera - Freiburg, DE
Patrick Roessler - Merzhausen, DE
Joel N. Beer - Albuquerque NM, US

Assignee:

MAKO Surgical Corporation - Ft. Lauderdale FL

International Classification:

G06F 3/0481
A61B 34/20
A61B 34/10
G06F 3/0484
G06F 3/01

Abstract:

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.