Robot-aided system for surgery

• US 4,979,949 A
• Filed: 04/26/1988
• Issued: 12/25/1990
• Est. Priority Date: 04/26/1988
• Status: Expired due to Fees

• Current Assignee: Board of Regents of The University of Washington (University of Washington)
• Original Assignee: Board of Regents of The University of Washington (University of Washington)
• Inventors: Baumgarten, Donald C., Garbini, Joseph L., Matsen, Frederick A. III, Sidles, John A., Pratt, Brian S.
• Primary Examiner(s): Hafer, Robert A.
• Assistant Examiner(s): Cofsky, Lynda M.
• Application Number:
  US07/186,345
• Time in Patent Office: 973 Days
• Field of Search: 606/53, 606/54, 606/79, 606/80, 606/86, 606/87, 606/88, 606/89, 414/9
• US Class Current: 606/53
• CPC Class Codes: A61B 17/15 Guides therefor arrangements for guiding straight saw blades in general B23D51/025
• CPC Class Codes: A61B 17/155 Cutting femur
• CPC Class Codes: A61B 17/157 Cutting tibia
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61G 13/0063 specially adapted for knee surgeries
• CPC Class Codes: A61G 13/12 Rests specially adapted therefor; Arrangements of patient-supporting surfaces rests for the surgeon A61B90/60; restraining devices A61F5/37
• CPC Class Codes: A61G 13/1245 Knees, upper or lower legs
• CPC Class Codes: A61G 13/1295 having alignment devices for the patient's body
• CPC Class Codes: G16H 50/20 for computer-aided diagnosis, e.g. based on medical expert systems
• CPC Class Codes: Y10S 706/924 Medical

Abstract

A system and method for positioning a tool relative to a patient'"'"'s bone to facilitate the performance of a surgical bone alteration task. The system comprises a bone immobilization device for supporting the bone in a fixed position with respect to a reference structure, and a robot that includes a base fixed in position with respect to the reference structure. The robot also includes a mounting member, and a manipulator connected between the base and the mounting member and permitting relative movement therebetween. The tool to be positioned by the system is mounted to the mounting member. The mounting member is caused to move relative to the reference structure in response to movement commands, so that the tool can be moved to a desired task position to facilitate performance of the task. The system preferably also includes a template attachable to the mounting member, a feature of the template representing a portion of a task. Preferably, the template is secured to the mounting member, and the template is then manually manipulated such that the template feature is properly oriented with respect to the patient'"'"'s bone. The template position is then recorded as a reference position that may thereafter be combined with a geometric database defining the task to determine the position of the tool. Particular embodiments for a bone immobilizer, a template and a saw guide are also described, together with a stabilizing device for the robot and a safety device for the robot base.

Claims

1. A system for positioning a tool relative to a patient'"'"'s bone to facilitate the performance of a surgical bone alteration task, the system comprising:

bone immobilization means for supporting the bone in a fixed position with respect to a reference structure;

a robot comprising a base fixed in position with respect to the reference structure, a mounting member, a manipulator connected between said base and said mounting member and permitting relative movement therebetween, and attachment means for securing the tool to said mounting member; and

means for causing said mounting member to move relative to the reference structure in response to movement commands, whereby the tool can be moved to a desired task position to facilitate performance of said task.

2. A system as claimed in claim 1, further including task control means for controlling and monitoring the operation of said robot, said task control means comprising memory means for storing data and control programs, and control-processing means for processing said control programs to generate said movement commands.

3. A system as claimed in claim 2, further comprising a template attachable to said mounting member, and means for recording a reference position of said template when said template is positioned such that a feature of said template is in a desired position relative to the bone, said reference position being recorded in a world coordinate system that is fixed with respect to the reference structure.

4. A system as claimed in claim 3, wherein said data in said memory means includes a geometric database comprised of data representative of the geometric relationships relevant to performance of the task, and wherein the task control means includes a tool-positioning program for determining the task position in said world coordinate system by integrating said geometric database and said reference position, and for generating movement commands for directing the mounting member to a position such that the tool secured to the mounting member is in the task position.

5. A system as claimed in claim 4, wherein the tool includes a tool identification pattern and wherein said attachment means includes an identification device positioned so as to be adjacent said identification pattern when the tool is secured to said mounting member, said identification device including means for ascertaining said tool identification pattern and generating signals indicative thereof, said task control means including means for identifying the tool attached to said mounting member by actuating said identification device and interpreting said identification signals.

6. A system as claimed claim 5, wherein said identification device includes a plurality of LED photodetector pairs, said photodetector pairs being capable of transmitting and receiving radiation signals, and said tool identification pattern is a plurality of bored and unbored areas such that when the tool is mounted on said mounting member and said photodetectors are actuated, a reflected signal will be detected by said photodectors when they are adjacent a bored area and will not be detected when said photodetectors are adjacent an unbored area, whereby said identification signals are indicative of reflected and nonreflected signals.

7. A system as claimed in claim 4, wherein said robot base includes a safety stand that tilts the robot if the robot encounters a rigid object while it is moving, and that generates a safety signal when said stand tilts, whereby said task control means responds to said safety signal by preventing further movement of the robot.

8. A system as claimed in claim 3, wherein said task control means further comprises operator interface means for displaying system information and receiving data and operator control commands, wherein said robot includes position-sensing means for generating positional signals indicative of the position of said mounting member in the world coordinate system, and means for operating in a passive mode in which the mounting member may be moved manually by an operator, and wherein the task control means first sets said robot to the passive mode and then, upon receiving an operator command indicating that said template has been positioned in a desired position, records said reference position and sets said robot to an active mode in which the mounting member moves in response to said movement commands.

9. A system as claimed in claim 2, further comprising a template attachable to said mounting member, a feature of said template representing a portion of a prosthesis, and means for recording a reference position of said template when said template is positioned such that said feature is in a desired position relative to the bone, the reference position being recorded in a world coordinate system that is fixed with respect to the reference structure.

10. A system as claimed in claim 9, wherein said data in said memory means includes a prosthesis database comprised of data representative of the geometric relationships defining one or more interior surfaces of the prosthesis, and wherein said task control means includes a tool-positioning program for determining the task position in the world coordinate system by integrating said prosthesis database and said reference position, and for generating movement commands for directing the mounting member to a position such that the tool secured to the mounting member is in the task position.

11. A system as claimed in claim 10, wherein the tool includes a tool identification pattern and wherein said attachment means includes an identification device positioned so as to be adjacent said identification pattern when the tool is secured to said mounting member, said identification device being suitable for ascertaining said tool identification pattern and generating signals indicative thereof, said task control means including means for identifying the tool attached to said mounting member by actuating said identification device and interpreting said identification signals.

12. A system as claimed claim 11, wherein said identification device includes a plurality of LED photodetector pairs, said photodetector pairs being capable of transmitting and receiving radiation signals, and said tool identification pattern is a plurality of bored and unbored areas such that when the tool is mounted on said mounting member and said photodetectors are actuated, a reflected signal will be detected by said photodetectors when they are adjacent a bored area and will not be detected when said photodetectors are adjacent an unbored area, whereby said identification signals are indicative of reflected and nonreflected signals.

13. A system as claimed in claim 10, wherein said base includes a safety stand that tilts the robot if the robot encounters a rigid object while it is moving and generates a safety signal when said stand tilts, and wherein said task control means includes means for responding to said safety signal by shutting off power to said robot.

14. A system as claimed in claim 10, further includes stabilizing means for providing a rigid link between said mounting member and the reference structure in addition to the link provided by said manipulator.

15. A system as claimed in claim 14, wherein said stabilizing means provides a detectable link with said manipulator, and said task control means includes means for detecting said link.

16. A system for determining a reference position of a template relative to a patient'"'"'s bone to facilitate the performance of a surgical bone alteration task, the system comprising:

bone immobilization means for supporting the bone in a fixed position with respect to a reference structure;

a robot comprising a base fixed in position with respect to the reference structure, a mounting member, a manipulator connected between said base and said mounting member and permitting relative movement therebetween, attachment means for securing the template to said mounting member, position-sensing means for generating positional signals indicative of the position of said mounting member in a world coordinate system that is fixed with respect to the reference structure; and

means for operating said robot in a passive mode in which the mounting member may be moved manually by an operator, whereby the template can be moved to the reference position.

17. A system as claimed in claim 16, further comprising task control means for controlling and monitoring the operation of said robot, said task control means comprising memory means for storing data and control programs, whereby the reference is recorded by said task control means.