METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE
First Claim
1. A method for controlling a surgical device, comprising the steps of:
- manipulating the surgical device to perform a procedure on a patient;
determining whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool; and
imposing a constraint on the surgical device if at least one of the relationship does not correspond to the desired relationship and a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool.
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Accused Products
Abstract
A method for controlling a surgical device is provided. The method includes manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and a position, an orientation, a velocity, and/or an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the position, the orientation, the velocity, and/or the acceleration of the surgical tool; and imposing a constraint on the surgical device if the relationship does not correspond to the desired relationship and/or a detection device is unable to detect a position of the anatomy and/or the position of the surgical tool.
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Citations
33 Claims
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1. A method for controlling a surgical device, comprising the steps of:
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manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool; and imposing a constraint on the surgical device if at least one of the relationship does not correspond to the desired relationship and a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for controlling a surgical device, comprising the steps of:
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manipulating the surgical device to perform a procedure on a patient; constraining the manipulation of the surgical device based on a desired relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a surgical tool of the surgical device; and limiting at least one of movement of the surgical tool and operation of the surgical tool if at least one of the desired relationship is not maintained and a detection device is unable to detect at least one of the anatomy and the surgical tool.
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18. A system for controlling a surgical device, comprising:
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a surgical device configured to be manipulated by a user to perform a procedure on patient; a surgical tool coupled to the surgical device; and a computing system programmed to; determine whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of the surgical tool corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool, and impose a constraint on the surgical device if at least one of the relationship does not correspond to the desired relationship and a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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Specification