Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool

• US 10,206,750 B2
• Filed: 09/25/2017
• Issued: 02/19/2019
• Est. Priority Date: 10/01/2009
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Hagag, Benny, Kang, Hyosig, Mozes, Alon, Odermatt, Daniel, Schmitz, Brian D.
• Primary Examiner(s): Sevilla, Christian
• Application Number:
  US15/714,202
• Publication Number:
  US 20180014894A1
• Time in Patent Office: 512 Days
• CPC Class Codes: A61B 17/1617 with mobile or detachable parts
• CPC Class Codes: A61B 17/162 Chucks or tool parts which are to be held in a chuck
• CPC Class Codes: A61B 17/1631 Special drive shafts, e.g. flexible shafts A61B17/1642, A61B17/164 take precedence
• CPC Class Codes: A61B 17/1655 for tapping
• CPC Class Codes: A61B 17/1659 Surgical rasps, files, planes, or scrapers
• CPC Class Codes: A61B 17/1664 for the hip
• CPC Class Codes: A61B 17/1666 for the acetabulum
• CPC Class Codes: A61B 17/1684 for the shoulder
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 2090/08021 of the patient or his organs
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61F 2/34 Acetabular cups
• CPC Class Codes: A61F 2/36 Femoral heads ; Femoral endoprostheses
• CPC Class Codes: A61F 2/4607 : of hip femoral endoprostheses
• CPC Class Codes: A61F 2/4609 : of acetabular cups
• CPC Class Codes: Y10T 74/20305 : Robotic arm

Abstract

A surgical system for positioning a prosthetic component includes a robotic arm and a surgical tool having an end effector configured to be coupled to the robotic arm. The system further includes a controller programmed to generate control signals, based on a planned pose of the prosthetic component, that cause the robotic arm to allow movement of the surgical tool in at least one degree of freedom and to constrain movement of the surgical tool in other degrees of freedom, wherein the controller is programmed to generate control signals that cause the robotic arm to maintain the constraint as the prosthetic component is implanted on the anatomy.

Claims

1. A surgical system for positioning a prosthetic component on an anatomy of a patient, comprising:

a robotic arm;

a surgical tool comprising an end effector configured to be coupled to the robotic arm, wherein the end effector comprises;

a first portion configured to engage a prosthetic component;

a second portion configured to receive an impact force for implanting the prosthetic component on the anatomy of the patient;

a mounting portion configured to be coupled to a corresponding mounting portion of the robotic arm such that the mounting portions are fixed relative to one another; and

an operating member configured to translate relative to the coupled mounting portions when the impact force is applied to the second portion of the end effector; and

a controller programmed to;

generate control signals, based on a planned pose of the prosthetic component, that cause the robotic arm to allow movement of the surgical tool in at least one degree of freedom and to constrain movement of the surgical tool in other degrees of freedom as the prosthetic component is implanted on the anatomy.

2. The surgical system of claim 1, wherein movement in the at least one degree of freedom comprises movement along a reference axis.

3. The surgical system of claim 2, wherein the control signals cause the robotic arm to constrain a point located on a central axis of the surgical tool to remain along the reference axis.

4. The surgical system of claim 2, wherein the controller is further programmed to limit a depth the surgical tool can travel along the reference axis with respect to the anatomy.

5. The surgical system of claim 1, wherein the control signals to constrain movement in other degrees of freedom comprise control signals to constrain an orientation of the surgical tool with respect to a reference axis.

6. The surgical system of claim 5, wherein the control signals constrain an axis of the surgical tool to remain within a predefined angular distance from the reference axis.

7. The surgical system of claim 6, wherein the predefined angular distance is 10 degrees.

8. The surgical system of claim 1, wherein the controller is further programmed to initiate automatic control of the prosthetic component to substantially align the surgical tool according to the planned pose of the prosthetic component.

9. The surgical system of claim 1, further comprising a tracking device configured to be positioned on the anatomy of the patient, to track movement of the anatomy relative to the surgical tool during a surgical procedure and create position data representative of a position of the anatomy, and wherein the controller is programmed to generate the control signals based on the position data.

10. A method for positioning a prosthetic component on an anatomy of a patient, comprising:

providing a surgical tool comprising an end effector configured to be coupled to a robotic arm, wherein the end effector comprises;

a first portion configured to engage a prosthetic component;

a second portion configured to receive an impact force for implanting the prosthetic component on the anatomy of the patient;

a mounting portion configured to be coupled to a corresponding mounting portion of the robotic arm such that the mounting portions are fixed relative to one another; and

an operating member configured to translate relative to the coupled mounting portions when the impact force is applied to the send portion of the end effector;

generating control signals, based on a planned pose of the prosthetic component, acting on the surgical tool to allow movement of the surgical tool in at least one degree of freedom and to constrain movement of the surgical tool in other degrees of freedom; and

maintaining the constraint as the prosthetic component is implanted on the anatomy.

11. The method of claim 10, wherein movement in the at least one degree of freedom comprises movement along a reference axis.

12. The method of claim 11, wherein constraining movement of the surgical tool comprises constraining a point located on a central axis of the surgical tool to remain along the reference axis.

13. The method of claim 11, further comprising providing a second constraint to limit a depth the surgical tool can travel along the reference axis with respect to the anatomy.

14. The method of claim 10, wherein constraining movement in other degrees of freedom comprises constraining an orientation of the surgical tool with respect to a reference axis.

15. The method claim 14, wherein constraining movement of the surgical tool comprises constraining an axis of the surgical tool to remain within a predefined angular distance from the reference axis.

16. The method of claim 15, wherein the predefined angular distance is 10 degrees.

17. The method of claim 10, further comprising initiating automatic control of the prosthetic component to substantially align the surgical tool according to the planned pose of the prosthetic component.

18. The method of claim 10, further comprising:

tracking, using a tracking device on the anatomy of the patient, movement of the anatomy relative to the surgical tool during a surgical procedure; and

creating position data representative of a position of the anatomy based on the tracked movement;

wherein constraining movement of the surgical tool comprises constraining the surgical tool based on the position data.