Robotic guided femoral head reshaping

• US 8,679,125 B2
• Filed: 09/22/2010
• Issued: 03/25/2014
• Est. Priority Date: 09/22/2010
• Status: Active Grant

• Current Assignee: Biomet Manufacturing, LLC (Zimmer Biomet Holdings, Inc.)
• Original Assignee: Biomet Manufacturing, LLC (Zimmer Biomet Holdings, Inc.)
• Inventors: Smith, Aaron P., Meridew, Jason D.
• Primary Examiner(s): BOLES, SAMEH RAAFAT
• Application Number:
  US12/888,011
• Publication Number:
  US 20120071893A1
• Time in Patent Office: 1,280 Days
• Field of Search: 606/86.R, 606/89
• US Class Current: 606/81
• CPC Class Codes: A61B 17/1664 for the hip
• CPC Class Codes: A61B 17/1666 for the acetabulum
• CPC Class Codes: A61B 17/1668 for the upper femur A61B17/164 takes precedence
• 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 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

A method of performing hip surgery with a robotic guided system on a patient with femoral acetabular impingement can include identifying the femoral acetabular impingement on the patient. Data related to a proximal femur and an acetabulum of the patient is acquired. A three-dimensional model of at least one of the patient'"'"'s proximal femur and acetabulum is created based on the data acquired. A location and amount of bone to be removed is determined. Dynamic movement limits of a cutting tool associated with the robotic guided system is set based on the determination. The determined bone of at least one of the proximal femur and acetabulum is removed with the tool while being inhibited from moving the tool outside of the dynamic limit by the robotic guided system.

Claims

1. A method of performing hip surgery with a robotic guided system on a patient, the method comprising:

identifying a femoral acetabular impingement on the patient;

touching at least one of proximal femur and acetabulum of the patient at a plurality of locations with a stylus coupled to a robotic arm associated with the robotic guided system and acquiring a plurality of corresponding data;

creating a three-dimensional model of at least one of the patients'"'"' proximal femur and acetabulum based on the plurality of data acquired by touching;

determining a location and amount of bone to be removed;

creating a boundary or model of a desired shape of at least one of the proximal femur and acetabulum;

setting dynamic movement limits of a cutting tool associated with the robotic guided system based on the determination; and

removing the determined bone of at least one of the proximal femur and acetabulum with the tool while being inhibited from moving the tool outside of the dynamic limit by the robotic guided system.

2. The method of claim 1 wherein identifying the femoral acetabular impingement includes identifying at least one of a protrusion on the proximal femur and a protrusion on the acetabulum.

3. The method of claim 2 wherein identifying the femoral acetabular impingement includes identifying a protrusion at an intersection of a femoral head and a femoral neck of the proximal femur.

4. The method of claim 3 wherein identifying the femoral acetabular impingement includes identifying a protrusion on an anterior rim of the acetabulum.

5. The method of claim 1 wherein removing the determined bone with the cutting tool comprises removing the determined bone with a burr disposed on the cutting tool.

6. A method of performing hip surgery with a robotic guided system on a patient, the method comprising:

acquiring a medical image of at least one of a proximal femur and an acetabulum of the patient;

identifying a femoral acetabular impingement on the patient based on the medical image;

touching at least one of a proximal femur and acetabulum of the patient at a plurality of locations with a stylus coupled to a robotic arm associated with the robotic guided system and acquiring corresponding data;

creating a three-dimensional model with a workstation of the robotic guided system of at least one of the proximal femur and acetabulum of the patient based on the plurality of data acquired by touching;

determining a location and amount of bone to be removed with the workstation;

creating a boundary or model of a desired shape of the proximal femur;

setting dynamic movement limits of a cutting tool associated with the robotic guided system based on the determination;

removing the stylus from the robotic arm and subsequently coupling a cutting tool to the robotic arm; and

removing the determined bone with the tool while being inhibited by the robotic arm from moving the tool outside of the dynamic limit.

7. The method of claim 6 wherein identifying the femoral acetabular impingement includes identifying at least one of a protrusion on the proximal femur and a protrusion on the acetabulum.

8. The method of claim 7 wherein identifying the femoral acetabular impingement includes identifying a protrusion at an intersection of a femoral head and a femoral neck of the proximal femur.

9. The method of claim 8 wherein identifying the femoral acetabular impingement includes identifying a protrusion on an anterior rim of the acetabulum.

10. The method of claim 6 wherein acquiring medical imaging comprises performing at least one of an x-ray and a magnetic resonance imaging.

11. The method of claim 6 wherein removing the determined bone with the cutting tool comprises removing the determined bone with a burr disposed on the cutting tool.

12. A method of performing hip surgery with a robotic guided system on a patient, the method comprising:

acquiring a medical image of the proximal femur of the patient;

identifying a femoral acetabular impingement on the patient based on the medical image;

touching a femoral head and neck of the proximal femur of the patient at a plurality of locations with a stylus coupled to a robotic arm associated with the robotic guided system and acquiring a plurality of corresponding data;

creating a three-dimensional model with the robotic guided system of the proximal femur of the patient based on the plurality of data acquired by touching;

determining a location and amount of bone to be removed on the proximal femur of the patient;

creating a boundary or model of a desired shape of the proximal femur;

setting dynamic movement limits of a cutting tool associated with the robotic guided system based on the determination;

removing the stylus from the robotic arm and subsequently coupling a cutting tool to the robotic arm; and

removing the determined bone with the tool while inhibiting the robotic arm from moving the tool outside of the dynamic limit.

13. The method of claim 12 wherein identifying the femoral acetabular impingement includes identifying a protrusion on the proximal femur.

14. The method of claim 13 wherein identifying the femoral acetabular impingement includes identifying a protrusion at an intersection of a femoral head and a femoral neck of the proximal femur.