Haptic guidance system and method

• US 8,010,180 B2
• Filed: 02/21/2006
• Issued: 08/30/2011
• Est. Priority Date: 03/06/2002
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Moses, Dennis, Quaid, Arthur, Abovitz, Rony, Illsley, Scott, Kang, Hyosig
• Primary Examiner(s): JAWORSKI, FRANCIS J
• Application Number:
  US11/357,197
• Publication Number:
  US 20060142657A1
• Time in Patent Office: 2,016 Days
• Field of Search: 600/407, 600424-429, 901 1- 35, 702/153
• US Class Current: 600/424
• CPC Class Codes: A61B 17/1675 for the knee
• CPC Class Codes: A61B 17/1677 for the patella
• CPC Class Codes: A61B 17/1695 Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1739 specially adapted for particular parts of the body
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 17/1767 for the patella
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• 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 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 : Divots for calibration
• 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 2034/305 : Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/08021 : of the patient or his organs
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3937 : Visible markers
• CPC Class Codes: A61B 2090/3983 : Reference marker arrangements for use with image guided surgery
• 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 34/35 : 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 34/71 : Manipulators operated by drive cable mechanisms
• 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 5/1127 : using markers
• CPC Class Codes: A61B 5/745 : using a holographic display
• CPC Class Codes: A61B 90/14 : Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61F 2/30942 : for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
• CPC Class Codes: A61F 2/38 : for elbows or knees
• CPC Class Codes: A61F 2002/4632 : using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4633 : for selection of endoprosthetic joints or for pre-operative planning
• CPC Class Codes: A61N 1/0534 : Electrodes for deep brain stimulation
• CPC Class Codes: A61N 1/3605 : Implantable neurostimulators for stimulating central or peripheral nerve system
• CPC Class Codes: A61N 1/372 : Arrangements in connection with the implantation of stimulators
• CPC Class Codes: G05B 2219/36432 : By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
• CPC Class Codes: G05B 2219/39196 : Use of passive joint, no actuator but brake, brake on or off
• CPC Class Codes: G05B 2219/40478 : Graphic display of work area of robot, forbidden, permitted zone
• CPC Class Codes: G05B 2219/45117 : Medical, radio surgery manipulator
• CPC Class Codes: G05B 2219/45171 : Surgery drill
• CPC Class Codes: G06F 3/016 : Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass

Abstract

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

Claims

1. A surgical apparatus, comprising:

a surgical device configured to be manipulated by a user to perform in a procedure on a patient; and

a computer system programmed;

to associate a virtual object with an anatomy of the patient to enable the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between the anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and

to adjust the virtual object associated with the anatomy in response to movement of the anatomy during the procedure by monitoring detected movement of the anatomy and then adjusting the virtual object in response to the detected movement,

wherein the surgical device includes at least one feedback mechanism configured to supply feedback to the user manipulating the surgical device; and

the computer system is programmed to control the at least one feedback mechanism to provide haptic guidance to the user, while the user manipulates the surgical device, based on the relationship between the anatomy of the patient and the at least one of a position, an orientation, a velocity, and an acceleration of the portion of the surgical device.

2. The surgical apparatus of claim 1, wherein the surgical device includes an arm, a surgical tool coupled to the arm, and a user interface mechanically connected to at least one of the arm and the surgical tool, wherein the user interface is configured to be gripped by a user to enable manipulation to perform the procedure on the patient.

3. The surgical apparatus of claim 2, wherein the user interface includes a first part configured to enable the user to change a configuration of the arm and a second part configured to enable the user to move the surgical tool relative to the arm.

4. The surgical apparatus of claim 3, wherein the first part comprises a joint of the arm and the second part comprises at least one of a distal end of the arm and the surgical tool.

5. The surgical apparatus of claim 2, wherein the computer system is programmed to control the surgical device to generate at least one of a force, a torque, and vibration based on a position of the surgical tool relative to the virtual object associated with the anatomy.

6. The surgical apparatus of claim 1, further comprising a detection device for determining a pose of an object.

7. The surgical apparatus of claim 6, wherein the detection device is mounted to the surgical device.

8. The surgical apparatus of claim 7, wherein the detection device is moveable from a first position to a second position relative to the surgical device.

9. The surgical apparatus of claim 7, wherein the detection device is fixed in position with respect to the surgical device.

10. The surgical apparatus of claim 6, further comprising at least one trackable element detectable by the detection device and configured to be attached to an object to be tracked.

11. The surgical apparatus of claim 10, wherein the computer system is programmed to alert the user if the detection device is unable to detect the at least one trackable element during the procedure.

12. The surgical apparatus of claim 10, wherein the at least one trackable element is disposed on the surgical device.

13. The surgical apparatus of claim 12, wherein the at least one trackable element is moveable between a first position and a second position relative to the surgical device.

14. The surgical apparatus of claim 12, wherein the at least one trackable element is fixed in position with respect to the surgical device.

15. The surgical apparatus of claim 10, wherein the surgical device includes an arm configured to engage a surgical tool, and wherein the at least one trackable element is configured to be disposed on at least one of a distal end of the arm and the surgical tool.

16. The surgical apparatus of claim 10, wherein the at least one trackable element includes a feature for verifying a calibration of a probe.

17. The surgical apparatus of claim 16, wherein the feature comprises a divot.

18. The surgical apparatus of claim 6, wherein the detection device is configured to be connected to an object to be tracked.

19. The surgical apparatus of claim 18, wherein the detection device includes a fixation device for attachment to a bone of the patient.

20. The surgical apparatus of claim 1, wherein the virtual object is a haptic object.

21. The surgical apparatus of claim 20, wherein the haptic object has a shape that substantially corresponds to a shape of a portion of an implant component.

22. The surgical apparatus of claim 21, wherein the portion of the implant component is a surface of a tibial component.

23. The surgical apparatus of claim 20, wherein the haptic object has either a shape or volume corresponding to a portion of bone to be removed during a surgical procedure.

24. A surgical apparatus, comprising:

a haptic device configured to be manipulated by a user to perform a procedure on a patient, the haptic device including at least one feedback mechanism configured to supply feedback to the user manipulating the haptic device; and

a computer system programmed;

to associate a virtual object with an anatomy of the patient to enable the at least one feedback mechanism to provide haptic guidance to the user, while the user manipulates the haptic device, based on a relationship between the anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the haptic device, and

to adjust the virtual object associated with the anatomy in response to movement of the anatomy during the procedure by monitoring detected movement of the anatomy and then adjusting the virtual object in response to the detected movement.

25. The surgical apparatus of claim 24, wherein the haptic device includes an arm, a surgical tool coupled to the arm, and a user interface mechanically connected to at least one of the arm and the surgical tool, wherein the user interface is configured to be gripped by a user to enable manipulation to perform the procedure on the patient.

26. The surgical apparatus of claim 25, wherein the user interface includes a first part configured to enable the user to change a configuration of the arm and a second part configured to enable the user to move the surgical tool relative to the arm.

27. The surgical apparatus of claim 26, wherein the first part comprises a joint of the arm and the second part comprises at least one of a distal end of the arm and the surgical tool.

28. The surgical apparatus of claim 25, wherein the computer system is programmed to control the haptic device to generate at least one of a force, a torque, and vibration based on a position of the surgical tool relative to the virtual object associated with the anatomy.

29. The surgical apparatus of claim 24, wherein the computer system is configured to control the feedback mechanism to communicate information to the user, while the user manipulates the haptic device, about a location of the portion of the haptic device relative to the virtual object associated with the anatomy.

30. The surgical apparatus of claim 24, wherein the computer system is programmed to control the at least one feedback mechanism to provide haptic guidance to the user, while the user manipulates the haptic device, based on the relationship between the anatomy of the patient and the at least one of a position, an orientation, a velocity, and an acceleration of the portion of the haptic device.

31. The surgical apparatus of claim 24, further comprising a detection device for determining a pose of an object.

32. The surgical apparatus of claim 31, wherein the detection device is mounted to the haptic device.

33. The surgical apparatus of claim 32, wherein the detection device is moveable from a first position to a second position relative to the haptic device.

34. The surgical apparatus of claim 32, wherein the detection device is fixed in position with respect to the haptic device.

35. The surgical apparatus of claim 31, further comprising at least one trackable element detectable by the detection device and configured to be attached to an object to be tracked.

36. The surgical apparatus of claim 35, wherein the computer system is programmed to alert the user if the detection device is unable to detect the at least one trackable element during the procedure.

37. The surgical apparatus of claim 35, wherein the at least one trackable element is disposed on the haptic device.

38. The surgical apparatus of claim 37, wherein the at least one trackable element is moveable between a first position and a second position relative to the haptic device.

39. The surgical apparatus of claim 37, wherein the at least one trackable element is fixed in position with respect to the haptic device.

40. The surgical apparatus of claim 35, wherein the haptic device includes an arm configured to engage a surgical tool, and wherein the at least one trackable element is configured to be disposed on at least one of a distal end of the arm and the surgical tool.

41. The surgical apparatus of claim 35, wherein the at least one trackable element includes a feature for verifying a calibration of a probe.

42. The surgical apparatus of claim 41, wherein the feature comprises a divot.

43. The surgical apparatus of claim 31, wherein the detection device is configured to be connected to an object to be tracked.

44. The surgical apparatus of claim 43, wherein the detection device includes a fixation device for attachment to a bone of the patient.

45. The surgical apparatus of claim 24, wherein the virtual object is a haptic object.

46. The surgical apparatus of claim 45, wherein the haptic object has a shape that substantially corresponds to a shape of a portion of an implant component.

47. The surgical apparatus of claim 46, wherein the portion of the implant component is a surface of a tibial component.

48. The surgical apparatus of claim 45, wherein the haptic object has either a shape or volume corresponding to a portion of bone to be removed during a surgical procedure.