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METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE

  • US 20080010706A1
  • Filed: 05/18/2007
  • Published: 01/10/2008
  • Est. Priority Date: 05/19/2006
  • Status: Active Grant
First Claim
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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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