Systems and methods for establishing virtual constraint boundaries
First Claim
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1. A method of using a plurality of virtual boundaries to guide movement of a surgical instrument, said method comprising:
- tracking movement of a first of the plurality of virtual boundaries wherein the first virtual boundary is associated with anatomy to be treated by the instrument;
tracking movement of the instrument; and
tracking movement of a second of the plurality of virtual boundaries relative to the first virtual boundary wherein the second virtual boundary is associated with a periphery of an opening in a patient to be avoided by the instrument;
guiding movement of the instrument relative to each of the first and second virtual boundaries as the first and second virtual boundaries move relative to one another.
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Abstract
Systems and methods for establishing and tracking virtual boundaries. The virtual boundaries can delineate zones in which an instrument is not permitted during a surgical procedure. The virtual boundaries can also delineate zones in which the surgical instrument is permitted during the surgical procedure. The virtual boundaries can also identify objects or structures to be treated by the instrument or to be avoided by the instrument during the surgical procedure.
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18 Claims
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1. A method of using a plurality of virtual boundaries to guide movement of a surgical instrument, said method comprising:
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tracking movement of a first of the plurality of virtual boundaries wherein the first virtual boundary is associated with anatomy to be treated by the instrument; tracking movement of the instrument; and tracking movement of a second of the plurality of virtual boundaries relative to the first virtual boundary wherein the second virtual boundary is associated with a periphery of an opening in a patient to be avoided by the instrument; guiding movement of the instrument relative to each of the first and second virtual boundaries as the first and second virtual boundaries move relative to one another. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification