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Method and apparatus for controlling a haptic device

  • US 10,350,012 B2
  • Filed: 10/07/2016
  • Issued: 07/16/2019
  • Est. Priority Date: 05/19/2006
  • Status: Active Grant
First Claim
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1. A method for calibrating a surgical device, comprising the steps of:

  • moving an arm of the surgical device into a first position;

    receiving, from a detection device, first data indicating at least one of a global position and an orientation of an end effector tracker when the end effector tracker is disposed on a distal portion of the arm of the surgical device with the arm in the first position;

    receiving, from the detection device, second data indicating at least one of a global position and an orientation of a device tracker when the device tracker is coupled to a base of the surgical device;

    receiving third data indicating at least one of a position and an orientation of the end effector tracker relative to a reference point fixed in relation to the base when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the first position;

    moving the arm of the surgical device into a second position;

    receiving, from a detection device, fourth data indicating at least one of a global position and an orientation of the end effector tracker when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the second position;

    receiving fifth data indicating at least one of a position and an orientation of the end effector tracker relative to a reference point fixed in relation to the base when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the second position;

    determining, at least one of the position and the orientation of the device tracker relative to the reference point based at least on each of the first data, the second data, the third data, the fourth data, and the fifth data, while tracking the end effector tracker and the device tracker by the detection device; and

    alerting a user if the device tracker moves during the calibration.

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