Haptic guidance system and method

• US 9,002,426 B2
• Filed: 06/23/2008
• Issued: 04/07/2015
• Est. Priority Date: 03/06/2002
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Quaid, Arthur E., Kang, Hyosig, Moses, Dennis, Abovitz, Rony A., Ferre, Maurice, Hajaj, Binyamin, Roche, Martin, Illsley, Scott, Mears, Dana C., Blackwell, Timothy, Mozes, Alon, Aly, Sherif, Dugal, Amardeep Singh, Hand, Randall, Glauser, Sandi, Salcedo, Juan, Ebbitt, Peter, Tapia, William, Arata, Louis K.
• Primary Examiner(s): Le, Long V
• Assistant Examiner(s): IMPINK, BRADLEY GERALD
• Application Number:
  US12/144,496
• Publication Number:
  US 20090012531A1
• Time in Patent Office: 2,479 Days
• Field of Search: None
• US Class Current: 600/407
• 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 create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy 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 representation of the anatomy in response to movement of the anatomy during the procedure.

Claims

1. A surgical method, comprising the steps of:

creating a representation of an anatomy of a patient;

associating the anatomy and a surgical device with the representation of the anatomy;

manipulating the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy;

controlling the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device;

monitoring a three dimensional position of the anatomy to detect movement of the anatomy during the procedure;

creating a representation of a surgical tool coupled to the surgical device; and

indicating an allowable angle of inclination of a shaft of the surgical tool.

2. The method of claim 1, further comprising defining a parameter relative to the representation of the anatomy.

3. The method of claim 2, further comprising controlling the surgical device to provide the at least one of haptic guidance and a limit on manipulation of the surgical device based on the parameter and the at least one of a position, an orientation, a velocity, and an acceleration of the portion of the surgical device.

4. The method of claim 1, further comprising associating a virtual object with the representation of the anatomy.

5. The method of claim 4, further comprising controlling the surgical device to provide the at least one of haptic guidance and a limit on manipulation of the surgical device based on the virtual object and the at least one of a position, an orientation, a velocity, and an acceleration of the portion of the surgical device.

6. The method of claim 4, further comprising:

adjusting the virtual object in response to the detected movement.

7. The method of claim 4, wherein controlling the surgical device includes constraining the portion of the surgical device against penetrating at least a portion of the virtual object.

8. The method of claim 4, wherein at least a portion of the virtual object represents a portion of material to be removed from the anatomy.

9. The method of claim 4, wherein a shape of at least a portion of the virtual object substantially corresponds to a shape of a surface of an implant to be fitted to the anatomy.

10. The method of claim 4, further comprising superimposing a representation of the virtual object on the representation of the anatomy.

11. The method of claim 4, wherein the virtual object represents a pathway from a first position to a second position.

12. The method of claim 11, further comprising:

activating the virtual object so that movement of the portion of the surgical device is constrained along the pathway; and

deactivating the virtual object when the portion of the surgical device reaches the second position.

13. The method of claim 12, further comprising deactivating the virtual object to enable the portion of the surgical device to deviate from the pathway.

14. The method of claim 1, wherein controlling the surgical device includes generating force feedback that opposes a user'"'"'s manipulation of the surgical device.

15. The method of claim 14, wherein the force feedback is determined based on a proximity of the portion of the surgical device to a virtual boundary associated with the representation of the anatomy.

16. The method of claim 14, wherein a magnitude of the force feedback increases as the portion of the surgical device approaches a virtual boundary associated with the representation of the anatomy.

17. The method of claim 1, wherein the haptic guidance communicates information to a user manipulating the surgical device about a position of the portion of the surgical device relative to at least one of a virtual boundary associated with the representation of the anatomy, a parameter relative to the representation of the anatomy, and the anatomy.

18. The method of claim 1, further comprising offsetting a force feedback curve for controlling the surgical device by a desired value.

19. The method of claim 18, further comprising storing the desired value;

and

associating the desired value with a user.

20. The method of claim 18, wherein offsetting the force feedback curve includes increasing or decreasing a size of a haptic object.

21. The method of claim 18, wherein offsetting the force feedback curve includes increasing or decreasing a size of a representation of a surgical tool coupled to the surgical device.

22. The method of claim 1, further comprising:

creating a representation of at least a portion of material to be removed from the anatomy;

manipulating the surgical device to remove material from the anatomy; and

creating a representation of the material removed by the surgical device.