Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
First Claim
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.
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Accused Products
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.
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Citations
18 Claims
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1. A surgical system for positioning a prosthetic component on an anatomy of a patient, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for positioning a prosthetic component on an anatomy of a patient, comprising:
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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. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification