Robotic Systems And Methods For Controlling A Tool Removing Material From A Workpiece

摘要

Robotic systems and methods for controlling a tool to remove material from a workpiece. Workpieces such as bones are often non-homogenous and have varying density distributions throughout their volumes. In some embodiments, the systems and methods control the feed rate of the tool, the tool path of the tool, and the rotational speed of the tool based on the density distribution in order to provide a desired outcome for a surgical procedure.

主权项

1. A method for controlling a manipulator and a tool coupled to the manipulator to remove material from a workpiece during a procedure, said method comprising the steps of:
determining a density distribution of the workpiece; tracking a position of the tool relative to the workpiece as the tool moves relative to the workpiece during the procedure; and controlling a plurality of parameters associated with the tool based on the density distribution of the workpiece and the position of the tool relative to the workpiece such that control of the tool takes into account the density distribution of the workpiece.