Navigation System for use with a Surgical Manipulator Operable in Manual or Semi-Autonomous Modes
First Claim
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1. A navigation system for use with a surgical manipulator operable in manual or semi-autonomous modes to move an energy applicator and remove a volume of tissue from a patient, said navigation system comprising:
- a tracker for attaching to the patient;
a localizer configured to receive signals from said tracker or transmit signals to said tracker; and
a navigation processor configured to run a removed material logger module to collect data relating to locations at which the energy applicator has been applied to the volume of tissue in the manual mode and configured to run a tool path generator module to generate a tool path for the energy applicator in the semi-autonomous mode based on said data.
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Abstract
A navigation system for use with a surgical manipulator operable in manual or semi-autonomous modes. The navigation system includes a tracker for attaching to the patient and a localizer to receive signals from the tracker or transmit signals to the tracker. The navigation system includes a navigation processor that runs a plurality of software modules.
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2 Claims
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1. A navigation system for use with a surgical manipulator operable in manual or semi-autonomous modes to move an energy applicator and remove a volume of tissue from a patient, said navigation system comprising:
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a tracker for attaching to the patient; a localizer configured to receive signals from said tracker or transmit signals to said tracker; and a navigation processor configured to run a removed material logger module to collect data relating to locations at which the energy applicator has been applied to the volume of tissue in the manual mode and configured to run a tool path generator module to generate a tool path for the energy applicator in the semi-autonomous mode based on said data.
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2. A surgical manipulator for moving a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising:
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a cart; first and second shoulders rotatably attached to said cart; an upper arm extending upwardly from said first shoulder and a lower arm extending upwardly from said second shoulder, each of said arms including a plurality of links; and a manipulator controller including an interference limit comparator and an interference limit force generator for preventing collisions between said links.
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Specification