System and method for interactive haptic positioning of a medical device

• US 20040034283A1
• Filed: 03/06/2003
• Published: 02/19/2004
• Est. Priority Date: 03/06/2002
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Quaid, Arthur E. III
• Granted Patent: US 7,747,311 B2
• Time in Patent Office: Days
• US Class Current: 600/300
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1757 for the spine
• CPC Class Codes: A61B 17/1767 for the patella
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00128 related to intensity or progress of surgical action
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/3405 using mechanical guide means
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2090/031 torque limiting
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3945 : Active visible markers, e.g. light emitting diodes
• 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 34/32 : operating autonomously
• CPC Class Codes: A61B 34/35 : for telesurgery
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/06 : Measuring instruments not otherwise provided for
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: B25J 13/025 : comprising haptic means
• CPC Class Codes: B25J 9/0081 : with master teach-in means

Abstract

A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.

Claims

1. A method, comprising:

defining a virtual pathway to a target region of an anatomy of a patient; and

modifying said virtual pathway during a medical procedure based at least in part on a current pose of a haptic device such that said virtual pathway extends from a current position of said haptic device to said target region.

2. The method of claim 1, wherein said modifying step comprises modifying said virtual pathway in response to a value of at least one scalar valued function of at least one haptic interaction wrench applied to said haptic device exceeding at least one threshold value.

3. The method of claim 1, wherein said modifying step comprises modifying said virtual pathway in response to a user of said haptic device pushing said haptic device against said virtual pathway.

4. The method of claim 3, further comprising generating at least one haptic interaction wrench in response to said pushing of said haptic device against said virtual pathway.

5. The method of claim 4, further comprising modifying said virtual pathway in response to a value of at least one scalar valued function of said at least one haptic interaction wrench exceeding at least one threshold value.

6. The method of claim 5, wherein said at least one threshold value is user configurable.

7. The method of claim 4, further comprising determining whether a value of at least one scalar valued function of said at least one haptic interaction wrench exceeds at least one threshold value.

8. The method of claim 1, further comprising providing at least one haptic cue from said virtual pathway to guide a user in setting said haptic device into a desired pose relative to said target region.

9. The method of claim 1, further comprising providing at least one haptic cue from said virtual pathway to guide a user in moving said haptic device toward said target region along a path defined at least in part by said virtual pathway.

10. The method of claim 1, further comprising guiding said user in moving said haptic device into a desired pose relative to said target region from said current pose.

11. The method of claim 10, further comprising determining at least one haptic interaction wrench to be applied to said haptic device to maintain said haptic device in said desired pose.

12. The method of claim 1, further comprising determining a pose for said haptic device in which a medical device when coupled to said haptic device is in a desired pose relative to said target region.

13. The method of claim 1, further comprising determining a pose for said haptic device in which a medical device when coupled to said haptic device is in a desired pose relative to said target region.

14. The method of claim 1, further comprising determining a pose for said haptic device in which an orthotic device when coupled to said haptic device is in a desired pose relative to said target region.

15. A method for interactive haptic positioning of a haptic device during a medical procedure of an anatomy of a patient, comprising:

defining a virtual pathway to a target region of said anatomy of said patient;

generating at least one haptic interaction wrench based at least in part on a current pose of said haptic device;

modifying said virtual pathway based at least in part on said at least one haptic interaction wrench such that said virtual pathway extends from a current position of said haptic device to said target region; and

guiding a user in moving said haptic device into a desired pose relative to said target region from said current pose.

16. The method of claim 15, further comprising providing at least one haptic cue from said virtual pathway to guide said user in moving said haptic device toward said target region along a path defined at least in part by said virtual pathway.

17. The method of claim 16, wherein said path is selected from the group consisting of a straight line and a curve.

18. The method of claim 15, further comprising providing at least one haptic cue from said virtual pathway to guide said user in moving said haptic device into said desired pose.

19. The method of claim 15, further comprising determining whether a value of at least one scalar valued function of said at least one haptic interaction wrench exceeds at least one threshold value.

20. The method of claim 19, further comprising modifying said virtual pathway in response to said value exceeding said at least one threshold value.

21. The method of claim 15, further comprising determining at least one haptic interaction wrench to be applied to said haptic device to maintain said haptic device in said desired pose.

22. The method of claim 15, wherein said modifying step comprises modifying said virtual pathway in response to a user of said haptic device pushing said haptic device against said virtual pathway.

23. A method, comprising:

defining a virtual pathway to a target region of an anatomy of a patient; and

modifying said virtual pathway during a medical procedure based at least in part on a current pose of a haptic device to move said haptic device from said current pose to a desired pose relative to said target region.

24. The method of claim 23, wherein said modifying step comprises modifying said virtual pathway in response to a value of at least one scalar valued function of at least one haptic interaction wrench applied to said haptic device exceeding at least one threshold value.

25. The method of claim 23, wherein said modifying step comprises modifying said virtual pathway in response to a user of said haptic device pushing said haptic device against said virtual pathway.

26. The method of claim 25, further comprising generating at least one haptic interaction wrench in response to said pushing of said haptic device against said virtual pathway.

27. The method of claim 26, further comprising modifying said virtual pathway in response to a value of at least one scalar valued function of said at least one haptic interaction wrench exceeding at least one threshold value.

28. The method of claim 27, wherein said at least one threshold value is user configurable.

29. The method of claim 26, further comprising determining whether a value of at least one scalar valued function of said at least one haptic interaction wrench exceeds at least one threshold value.

30. The method of claim 23, further comprising providing at least one haptic cue from said virtual pathway to guide a user in setting said haptic device in said desired pose relative to said target region.

31. The method of claim 23, further comprising providing at least one haptic cue from said virtual pathway to guide a user in moving said haptic device toward said target region along a path defined at least in part by said virtual pathway.

32. The method of claim 23, further comprising guiding said user in moving said haptic device into said desired pose from said current pose.

33. The method of claim 32, further comprising determining at least one haptic interaction wrench to be applied to said haptic device to maintain said haptic device in said desired pose.

34. The method of claim 23, further comprising determining a pose for said haptic device in which a medical device when coupled to said haptic device is in said desired pose relative to said target region.

35. The method of claim 23, further comprising determining a pose for said haptic device in which a medical device when coupled to said haptic device is in said desired pose relative to said target region.

36. The method of claim 23, further comprising determining a pose for said haptic device in which an orthotic device when coupled to said haptic device is in said desired pose relative to said target region.

37. A system for haptic positioning of a haptic device during a medical procedure, comprising:

application logic operatively associated with said haptic device and operable to;

define a virtual pathway to a target region of an anatomy of a patient; and

modify said virtual pathway during said medical procedure based at least in part on a current pose of said haptic device such that said virtual pathway extends from a current position of said haptic device to said target region.

38. The system of claim 37, wherein said application logic is further operable to modify said virtual pathway in response to a value of at least one scalar valued function of at least one haptic interaction wrench applied to said haptic device exceeding at least one threshold value.

39. The system of claim 37, wherein said application logic is further operable to modify said virtual pathway in response to a user of said haptic device pushing said haptic device against said virtual pathway.

40. The system of claim 39, wherein said application logic is further operable to generate at least one haptic interaction wrench in response to said pushing of said haptic device against said virtual pathway.

41. The system of claim 40, wherein said application logic is further operable to modify said virtual pathway in response to a value of at least one scalar valued function of said at least one haptic interaction wrench exceeding at least one threshold value.

42. The system of claim 41, wherein said at least one threshold value is user configurable.

43. The system of claim 40, wherein said application logic is further operable to determine whether a value of at least one scalar valued function of said at least one haptic interaction wrench exceeds at least one threshold value.

44. The system of claim 37, wherein said application logic is further operable to provide at least one haptic cue from said virtual pathway to guide a user in setting a desired pose of said haptic device relative to said target region.

45. The system of claim 37, wherein said application logic is further operable to provide at least one haptic cue from said virtual pathway to guide a user in moving said haptic device toward said target region along a path defined at least in part by said virtual pathway.

46. The system of claim 37, wherein said application logic is further operable to guide said user in moving said haptic device into a desired pose relative to said target region from said current pose.

47. The system of claim 46, wherein said application logic is further operable to determine at least one haptic interaction wrench to be applied to said haptic device to maintain said haptic device in said desired pose.

48. The system of claim 37, wherein said application logic is further operable to determine a pose for said haptic device in which a medical device when coupled to said haptic device is in a desired pose relative to said target region.

49. The system of claim 37, wherein said application logic is further operable to determine a pose for said haptic device in which a medical instrument when coupled to said haptic device is in a desired pose relative to said target region.

50. The system of claim 37, wherein said application logic is further operable to determine a pose for said haptic device in which an orthotic device when coupled to said haptic device is in a desired pose relative to said target region.

51. A haptic surgical system, comprising:

a computer-aided surgery system;

a haptic device coupled to said computer-aided surgery system; and

application logic operatively associated with said haptic device and operable to;

define a virtual pathway to a target region of an anatomy of a patient;

generate at least one haptic interaction wrench based at least in part on a current pose of said haptic device;

modify said virtual pathway based at least in part on said at least one haptic interaction wrench such that said virtual pathway extends from a current position of said haptic device to said target region; and

guide a user in moving said haptic device into a desired pose relative to said target region from said current pose.

52. The system of claim 51, wherein said application logic is further operable to provide at least one haptic cue from said virtual pathway to guide said user in moving said haptic device toward said target region along a path defined at least in part by said virtual pathway.

53. The system of claim 52, wherein said path is selected from the group consisting of a straight line and a curve.

54. The system of claim 51, wherein said application logic is further operable to provide at least one haptic cue from said virtual pathway to guide said user in moving said haptic device into said desired pose.

55. The system of claim 51, wherein said application logic is further operable to determine whether a value of at least one scalar valued function of said at least one haptic interaction wrench exceeds at least one threshold value.

56. The system of claim 55, wherein said application logic is further operable to modify said virtual pathway in response to said value of said at least one scalar valued function exceeding said at least one threshold value.

57. The system of claim 51, wherein said application logic is further operable to determine at least one haptic interaction wrench to be applied to said haptic device to maintain said haptic device in said desired pose.

58. The system of claim 51, wherein said application logic is further operable to modify said virtual pathway in response to a user of said haptic device pushing said haptic device against said virtual pathway.