SYSTEMS AND METHODS FOR GUIDING AN INSTRUMENT USING HAPTIC OBJECT WITH COLLAPSING GEOMETRY

• US 20160199136A1
• Filed: 03/18/2016
• Published: 07/14/2016
• Est. Priority Date: 12/29/2011
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Iorgulescu, Radu, Moses, Dennis
• Granted Patent: US 10,441,364 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.

Claims

1. A computer-implemented method for guiding an instrument, comprising:

determining, by a processor associated with a computer, a current orientation angle of an instrument axis based, at least in part, on orientation of a target axis;

establishing, by the processor, a haptic boundary associated with the instrument based on the current orientation angle of the instrument axis, the haptic boundary configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.

2. The computer-implemented method of claim 1, determining the current orientation angle of the instrument axis based on orientation of the target axis includes:

determining whether the instrument axis is coplanar with the target axis; and

if the instrument axis is coplanar with the target axis;

measuring orientation of the instrument axis relative to the target axis;

if the instrument axis is not coplanar with the target axis;

identifying a line parallel with the target axis and coplanar to the installment axis; and

measuring orientation of the instrument axis relative to the identified line.

3. The computer-implemented method of claim 1, wherein the identified line parallel with the target axis is normal to a plane that is normal to the target axis.

4. The computer-implemented method of claim 1, wherein the haptic boundary is further configured to constrain the installment axis from being rotated to an angle substantially greater than the current orientation angle.

5. The computer-implemented method of claim 1, wherein establishing the haptic boundary associated with the instrument comprises:

establishing, by the processor, a virtual haptic volume based on the target axis, wherein the virtual haptic volume comprises a surface at which a haptic force is applied to the instrument; and

determining, by the processor, a position of a reference point of the instrument;

wherein upon determining that the position of the reference point of the instrument is within the boundary defined by the virtual haptic volume, decreasing the virtual haptic volume based on a detection of a corresponding decrease in the current orientation angle of the instrument axis relative to a previous orientation angle.

6. The computer-implemented method of claim 5, wherein decreasing the virtual haptic volume includes decreasing a distance of the surface of the virtual haptic volume from the target axis.

7. The computer-implemented method of claim 6, wherein the haptic volume is substantially funnel-shaped and decreasing a distance of the surface of the virtual haptic volume from the target axis includes decreasing a base radius of the funnel-shaped haptic volume.

8. The computer-implemented method of claim 6, wherein at least a portion of the haptic volume is substantially cone-shaped, and decreasing the distance of the surface of the virtual haptic volume from the target axis includes decreasing a boundary angle of the haptic cone.

9. The computer-implemented method of claim 5, further comprising determining, by the processor, a distance between the reference point of the instrument and the target axis, the haptic force configured to constrain the reference point of the instrument from being positioned at a distance greater than the distance between the reference point of the instrument and the target axis.

10. The computer-implemented method of claim 1, further comprising:

determining, by the processor, a position of a reference point of the instrument;

determining, by the processor, a distance between the reference point of the instrument and the target axis;

establishing a second haptic boundary configured to constrain the reference point of the instrument from being positioned at a distance greater than the distance between the reference point of the instrument and the target axis.

11. The computer-implemented method of claim 10, further comprising applying, if the distance between the reference point of the instrument and the target axis is less than a threshold distance, a haptic force configured to urge the reference point to a position along the target axis.

12-26. -26. (canceled)

27. A computer-assisted surgery system comprising:

a surgical device for performing at least one task associated with a surgical procedure;

a processor, operatively coupled to the surgical device and configured to;

determine an orientation angle of an instrument axis based on orientation of a target axis; and

apply a haptic force to the surgical device based on the determined orientation angle of the instrument axis, the haptic force configured to constrain the instrument axis from being moved to an angle substantially greater than the orientation angle.

28. The computer-assisted surgery system of claim 27, wherein determining the current orientation angle of the instrument axis based on orientation of the target axis includes:

determining whether the instrument axis is coplanar with the target axis; and

if the instrument axis is coplanar with the target axis;

measuring orientation of the instrument axis relative to the target axis;

if the instrument axis is not coplanar with the target axis;

identifying a line parallel with the target axis and coplanar to the instrument axis; and

measuring orientation of the instrument axis relative to the identified line.

29. The computer-assisted surgery system of claim 27, wherein the identified line parallel with the target axis is normal to a plane that is normal to the target axis.

30. The computer-assisted surgery system of claim 29, wherein the processor is further configured to:

establish a virtual haptic volume based on the target axis, wherein the virtual haptic volume defines a boundary at which the haptic force is applied to the instrument; and

determine a position of a reference point of the instrument;

wherein if the position of the reference point of the instrument is within the boundary defined by the virtual haptic volume, the processor is configured to decrease the virtual haptic volume based on a detection of a corresponding decrease in an orientation angle of the instrument axis relative to the target axis.

31. The computer-assisted surgery system of claim 30, wherein the processor is configured to decrease the virtual haptic volume by decreasing a distance of the boundary of the virtual haptic volume from the target axis.

32. The computer-assisted surgery system of claim 31, wherein the haptic volume is substantially funnel-shaped and the processor is further configured to decrease the distance of the boundary of the virtual haptic volume from the target axis by decreasing a base radius of the funnel shaped haptic volume.

33. The computer-assisted surgery system of claim 31, wherein at least a portion of the haptic volume is substantially cone-shaped, and the processor is further configured to decrease the distance of the boundary of the virtual haptic volume from the target axis by decreasing a boundary angle of the haptic cone.

34. The computer-assisted surgery system of claim 30, further wherein the processor is further configured to determine a distance between the reference point oldie instrument and the target axis, the haptic force configured to constrain the reference point of the instrument from being positioned at a distance greater than the distance between the reference point of the instrument and the target axis.

35. The computer-assisted surgery system of claim 34, further wherein the processor is further configured to apply, if the distance between the reference point of the instrument and the target axis is less than a threshold distance, a second haptic force configured to urge the reference point to a position along the target axis.