Method and apparatus for controlling a haptic device

• US 10,028,789 B2
• Filed: 05/18/2007
• Issued: 07/24/2018
• Est. Priority Date: 05/19/2006
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Quaid, Arthur, Kang, Hyosig, Moses, Dennis
• Primary Examiner(s): Chen, Tse
• Assistant Examiner(s): IP, JASON M
• Application Number:
  US11/750,840
• Publication Number:
  US 20080010705A1
• Time in Patent Office: 4,085 Days
• Field of Search: 600407, 600424, 600426, 600429, 600431
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00712 simulating mathematical properties, e.g. for testing of positioning in the isocentre or focus
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety

Abstract

A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.

Claims

1. A method of compensating for motion of objects during a surgical procedure, comprising the steps of:

determining a pose of an anatomy of a patient;

determining a pose of a surgical tool of a surgical device, wherein the surgical device comprises a haptic device;

determining an applied wrench applied to the surgical device;

defining a relationship between the pose of the anatomy and the surgical tool based on a desired interaction between the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of the surgical tool, wherein the relationship is defined based on a virtual object;

associating, with a coordinate system of a representation of the anatomy, the pose of the anatomy, the pose of the surgical tool, and the relationship;

updating the association with the coordinate system of the representation of the anatomy in response to motion of the anatomy without interrupting operation of the surgical device during the surgical procedure;

dividing a workspace of the surgical device into a first subspace and a second subspace; and

providing a hybrid control scheme comprising providing admittance control when the surgical tool is positioned in the first subspace and impedance control when the surgical tool is positioned in the second subspace;

wherein providing the admittance control comprises modifying the position of the surgical device based on the applied wrench; and

wherein providing the impedance control comprises providing haptic guidance by applying a second wrench to the surgical device, based both on the relationship between the pose of the anatomy and the surgical tool and on the applied wrench, to a user to constrain the user'"'"'s manipulation of the surgical tool.

2. The method of claim 1, wherein the step of associating the relationship with the coordinate system of the representation of the anatomy includes the step of:

positioning the virtual object relative to the representation of the anatomy.

3. The method of claim 1, wherein the step of associating the pose of the anatomy, the pose of the surgical tool, and the relationship includes the steps of:

defining a first transformation for transforming a coordinate system of the anatomy to the coordinate system of the representation of the anatomy; and

defining a second transformation for transforming a coordinate system of the surgical tool to the coordinate system of the representation of the anatomy.

4. The method of claim 3, further comprising the steps of:

updating the first transformation in response to at least one of the motion of the anatomy and the motion of the surgical tool; and

updating the second transformation in response to at least one of the motion of the anatomy and the motion of the surgical tool.

5. The method of claim 1, further comprising the steps of:

representing at least one of the anatomy, the surgical tool, and the relationship; and

updating the representation in response to at least one of the motion of the anatomy and the motion of the surgical tool.

6. The method of claim 1, wherein the pose of the surgical tool is determined based at least in part on a pose of a first portion of the surgical device, a pose of a second portion of the surgical device, and a known geometric relationship between the surgical tool and the first portion of the surgical device.

7. The method of claim 6, wherein the first portion of the surgical device is configured to be moveable relative to the second portion of the surgical device and the second portion of the surgical device is configured to be moveable relative to the anatomy.

8. The method of claim 6, wherein a detection device is coupled to the surgical device.

9. The method of claim 6, wherein the first portion of the surgical device includes at least a portion of a serial linkage, a parallel linkage, or a hybrid linkage.

10. The method of claim 1, wherein the surgical device comprises a haptic device.

11. The method of claim 6, wherein the step of determining the pose of the surgical tool includes the step of:

determining a pose of a tracking element disposed on the second portion of the surgical device.

12. The method of claim 11, wherein a position of the tracking element is adjustable relative to the second portion of the surgical device.

13. The method of claim 11, wherein a position of the tracking element is fixed relative to the second portion of the surgical device.

14. A surgical apparatus, comprising:

a surgical device comprising a haptic device;

a surgical tool coupled to the surgical device; and

a computing system programmed to;

determine a pose of an anatomy of a patient;

determine a pose of the surgical tool;

determine an applied wrench applied to the surgical device;

define a relationship between the pose of the anatomy and the surgical tool based on a desired interaction between the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of the surgical tool, wherein the relationship is defined based on a virtual object;

associate, with a coordinate system of a representation of the anatomy, the pose of the anatomy, the pose of the surgical tool, and the relationship;

update the association with the coordinate system of the representation of the anatomy in response to motion of the anatomy without interrupting operation of the surgical device during a surgical procedure;

divide a workspace of the surgical device into a first subspace and a second subspace; and

control the surgical device using a hybrid control scheme comprising providing admittance control when the surgical tool is positioned in the first subspace and impedance control when the surgical tool is positioned in the second subspace;

wherein providing the admittance control comprises modifying the position of the surgical device based on the applied wrench; and

wherein providing the impedance control comprises providing haptic guidance by applying a second wrench to the surgical device, based both on the relationship between the pose of the anatomy and the surgical tool and on the applied wrench, to a user to constrain the user'"'"'s manipulation of the surgical tool.

15. The surgical apparatus of claim 14, wherein the surgical device includes a first portion and a second portion, and wherein the first portion is configured to be moveable relative to the second portion and the second portion is configured to be moveable relative to the anatomy.

16. The surgical apparatus of claim 15, wherein the first portion of the surgical device comprises at least a portion of a serial linkage, a parallel linkage, or a hybrid linkage.

17. The surgical apparatus of claim 15, further comprising a detection device coupled to the surgical device.

18. The surgical apparatus of claim 15, further comprising:

a tracking element detectable by a detection device and configured to be disposed on the second portion of the surgical device.

19. The surgical apparatus of claim 18, wherein a position of the tracking element is adjustable relative to the second portion of the surgical device.

20. The surgical apparatus of claim 18, wherein a position of the tracking element is fixed relative to the second portion of the surgical device.

21. The surgical apparatus of claim 18, wherein the computing system is programmed to:

determine a pose of the tracking element.

22. The surgical apparatus of claim 15, wherein the computing system is programmed to:

determine the pose of the surgical tool based at least in part on a pose of the first portion of the surgical device, a pose of the second portion of the surgical device, and a known geometric relationship between the surgical tool and the first portion of the surgical device.

23. The surgical apparatus of claim 14, wherein the computing system is programmed to:

represent at least one of the anatomy, the surgical tool, and the relationship; and

update the representation in response to the at least one of the motion of the anatomy and the motion of the surgical tool.

24. The surgical apparatus of claim 14, wherein the computing system is programmed to:

define a first transformation for transforming a coordinate system of the anatomy to the coordinate system of the representation of the anatomy; and

define a second transformation for transforming a coordinate system of the surgical tool to the coordinate system of the representation of the anatomy.

25. The surgical apparatus of claim 24, wherein the computing system is programmed to:

update the first transformation in response to at least one of the motion of the anatomy and the motion of the surgical tool; and

update the second transformation in response to at least one of the motion of the anatomy and the motion of the surgical tool.

26. The surgical apparatus of claim 14, wherein the computing system is programmed to:

position the virtual object relative to the representation of the anatomy.