Method and apparatus for controlling a haptic device

• US 8,287,522 B2
• Filed: 05/18/2007
• Issued: 10/16/2012
• Est. Priority Date: 05/19/2006
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Moses, Dennis, Quaid, Arthur, Kang, Hyosig
• Primary Examiner(s): Johnson, III, Henry M
• Application Number:
  US11/750,845
• Publication Number:
  US 20080010706A1
• Time in Patent Office: 1,978 Days
• Field of Search: 128/898, 606/1, 606/130
• US Class Current: 606/1
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00712 simulating mathematical properties, e.g. for testing of positioning in the isocentre or focus
• 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 2034/107 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• 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 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• 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 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety

Abstract

A method for controlling a surgical device is provided. The method includes manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and a position, an orientation, a velocity, and/or an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the position, the orientation, the velocity, and/or the acceleration of the surgical tool; and imposing a constraint on the surgical device if the relationship does not correspond to the desired relationship and/or a detection device is unable to detect a position of the anatomy and/or the position of the surgical tool.

Claims

1. A method for controlling a surgical device, comprising the steps of:

manipulating the surgical device to perform a procedure on a patient;

determining whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool;

imposing a constraint on the surgical device if a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool;

determining whether the surgical tool is interacting with a virtual boundary associated with the anatomy; and

deactivating the virtual boundary if the surgical tool is not interacting with the virtual boundary.

2. The method of claim 1, wherein the desired relationship is defined by at least one parameter generated by a haptic rendering algorithm.

3. The method of claim 1, wherein the step of determining whether the relationship corresponds to the desired relationship includes determining whether the surgical device has violated at least one parameter generated by a haptic rendering algorithm.

4. The method of claim 1, wherein the step of determining whether the relationship corresponds to the desired relationship includes determining whether a penetration depth of the surgical tool into a virtual boundary associated with the anatomy exceeds a predetermined threshold.

5. The method of claim 1, wherein the step of determining whether the relationship corresponds to the desired relationship includes determining whether a velocity of at least one of the anatomy, a tracked object, and a tracking element disposed on a tracked object exceeds a predetermined threshold.

6. The method of claim 1, wherein the step of determining whether the relationship corresponds to the desired relationship includes determining whether a position of at least one of the anatomy, a tracked object, and a tracking element disposed on a tracked object is outside a predetermined boundary.

7. The method of claim 1, wherein the step of determining whether the relationship corresponds to the desired relationship includes determining whether an output force of the surgical device exceeds a predetermined threshold.

8. The method of claim 1, further comprising the step of

implementing 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 the relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool.

9. The method of claim 1, wherein the step of imposing the constraint includes at least one of limiting movement of at least a portion of the surgical device and limiting operation of the surgical device.

10. The method of claim 1, wherein the constraint includes at least one parameter generated by a haptic rendering algorithm.

11. The method of claim 1, further comprising the step of:

removing the imposed constraint after a predetermined time interval from the time of imposing the constraint.

12. The method of claim 1, further comprising the steps of:

detecting with the detection device a first object comprising at least one of the anatomy and a tracking element associated with the anatomy;

detecting with the detection device a second object comprising at least one of the surgical device and a tracking element associated with the surgical device; and

providing an indication to a user if the detection device is unable to detect at least one of the first object and the second object.

13. The method of claim 12, further comprising the step of enabling the surgical device only if the detection device detects the first object and the second object.

14. A system for controlling a surgical device, comprising:

a surgical tool coupled to the surgical device, the surgical device configured to be manipulated by a user to perform a procedure on a patient; and

a computing system programmed to;

determine whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of the surgical tool corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool,

impose a constraint on the surgical device if a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool;

determine whether the surgical tool is interacting with a virtual boundary associated with the anatomy, and

deactivate the virtual boundary if the surgical tool is not interacting with the virtual boundary.

15. The system of claim 14, wherein the desired relationship is defined by at least one parameter generated by a haptic rendering algorithm.

16. The system of claim 14, wherein the computing system is programmed to:

determine whether the surgical device has violated at least one parameter generated by a haptic rendering algorithm.

17. The system of claim 14, wherein the computing system is programmed to:

determine whether a penetration depth of the surgical tool into a virtual boundary associated with the anatomy exceeds a predetermined threshold.

18. The system of claim 14, wherein the computing system is programmed to:

determine whether a velocity of at least one of the anatomy, a tracked object, and a tracking element disposed on a tracked object exceeds a predetermined threshold.

19. The system of claim 14, wherein the computing system is programmed to:

determine whether a position of at least one of the anatomy, a tracked object, and a tracking element disposed on a tracked object is outside a predetermined boundary.

20. The system of claim 14, wherein the computing system is programmed to:

determine whether an output force of the surgical device exceeds a predetermined threshold.

21. The system of claim 14, wherein the computing 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 the relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool.

22. The system of claim 14, wherein the computing system is programmed to:

impose the constraint by limiting at least one of operation of the surgical device and movement of at least a portion of the surgical device.

23. The system of claim 14, wherein the constraint includes at least one parameter generated by a haptic rendering algorithm.

24. The system of claim 14, wherein the computing system is programmed to:

remove the imposed constraint after a predetermined time interval from the time of imposing the constraint.

25. The system of claim 14, wherein the computing system is programmed to:

detect with the detection device a first object comprising at least one of the anatomy and a tracking element associated with the anatomy;

detect with the detection device a second object comprising at least one of the surgical device and a tracking element associated with the surgical device; and

provide an indication to the user if the detection device is unable to detect at least one of the first object and the second object.

26. The system of claim 25, wherein the computing system is programmed to:

enable the surgical device only if the detection device detects the first object and the second object.

27. A method for controlling a surgical device, comprising the steps of:

manipulating the surgical device to perform a procedure on a patient;

determining whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool;

imposing a constraint on the surgical device if a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool; and

removing the imposed constraint after a predetermined time interval from the time of imposing the constraint.

28. A system for controlling a surgical device, comprising:

a surgical tool coupled to the surgical device, the surgical device configured to be manipulated by a user to perform a procedure on a patient; and

a computing system programmed to;

determine whether a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of the surgical tool corresponds to a desired relationship between the anatomy and the at least one of the position, the orientation, the velocity, and the acceleration of the surgical tool;

impose a constraint on the surgical device if a detection device is unable to detect at least one of a position of the anatomy and the position of the surgical tool; and

remove the imposed constraint after a predetermined time interval from the time of imposing the constraint.