Patent 11832887 was granted and assigned to MAKO Surgical Corp. on December, 2023 by the United States Patent and Trademark Office.
A method includes providing a standard control boundary defining a portion of a bone to be resected, registering a position of a soft tissue at the bone, obtaining a customized control boundary by moving a vertex of the standard control boundary based on the position of the soft tissue, and controlling a robotic device to constrain operation of a cutting tool to an area defined by the customized control boundary.