Neural monitor-based dynamic boundaries
First Claim
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1. A computer-implemented method for controlling a surgical system, the method comprising:
- receiving, from a neural monitor, a signal indicative of a distance between a surgical tool connected to a robotic device and a portion of a patient'"'"'s anatomy;
receiving a joint angular velocity of one or more joints of the robotic device;
determining a neural monitor gain based on the signal received from the neural monitor;
generating a first force value based on the neural monitor gain and the joint angular velocity of the one or more joints of the robotic device;
generating a second force value based on a relationship of a surgical tool and a virtual boundary associated with the patient'"'"'s anatomy; and
generating a robotic control to control the surgical system by altering movement of the robotic device based upon the first force value and the second force value.
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Abstract
A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic aim. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient'"'"'s anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic aim resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.
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Citations
7 Claims
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1. A computer-implemented method for controlling a surgical system, the method comprising:
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receiving, from a neural monitor, a signal indicative of a distance between a surgical tool connected to a robotic device and a portion of a patient'"'"'s anatomy; receiving a joint angular velocity of one or more joints of the robotic device; determining a neural monitor gain based on the signal received from the neural monitor; generating a first force value based on the neural monitor gain and the joint angular velocity of the one or more joints of the robotic device; generating a second force value based on a relationship of a surgical tool and a virtual boundary associated with the patient'"'"'s anatomy; and generating a robotic control to control the surgical system by altering movement of the robotic device based upon the first force value and the second force value. - View Dependent Claims (2, 3, 4, 5)
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6. A computer-assisted surgery system comprising:
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a robotic device including a surgical tool; a processor communicatively connected to the robotic device and configured to; receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient'"'"'s anatomy; receive a joint angular velocity of one or more joints of the robotic device; determine a neural monitor gain based on the signal received from the neural monitor; generate a first force value based on the neural monitor gain and the joint angular velocity of the one or more joints of the robotic device; generate a second force value based on a relationship of a surgical tool and a virtual boundary associated with the patient'"'"'s anatomy; and generate a robotic control to control the surgical system by altering movement of the robotic device based upon the first force value and the second force value. - View Dependent Claims (7)
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Specification