Systems and methods for guiding an instrument using haptic object with collapsing geometry

• US 9,655,683 B2
• Filed: 03/18/2016
• Issued: 05/23/2017
• Est. Priority Date: 12/29/2011
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Moses, Dennis, Iorgulescu, Radu
• Primary Examiner(s): FARAH, AHMED M
• Application Number:
  US15/074,851
• Publication Number:
  US 20160199137A1
• Time in Patent Office: 431 Days
• Field of Search: 606 1, 606 53, 606 68, 606 91, 606130, 600424-427, 128898
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.

Claims

1. A method for guiding an instrument, comprising:

establishing, by a processor associated with a computer, a target axis that comprises a target point;

defining, by the processor, a virtual haptic volume based, at least in part, on the target point and the target axis, the virtual haptic volume comprising an intermediate haptic plane;

determining, by the processor, a position of a reference point of an instrument and an orientation angle of an axis of the instrument relative to a plane normal to the target axis;

determining, by the processor, that at least one of the position of the reference point and the axis of the instrument is not aligned with the target axis;

wherein upon determining that at least one of the position of the reference point and the axis of the instrument is not aligned with the target axis, the intermediate haptic plane prevents the reference point of the instrument from moving towards the target point until the reference point and the axis of the instrument is aligned with the target axis.

2. The method of claim 1, wherein the haptic volume is y-shaped, having a v-shaped upper section that converges to a planar lower section.

3. The method of claim 1, wherein the haptic volume is funnel-shaped, having a cone-shaped upper section that converges to a cylindrical lower section.

4. The method of claim 1, wherein at least a portion of the haptic volume is cone-shaped.

5. The method of claim 4, wherein the cone-shaped portion intersects a cylindrically-shaped portion, wherein the intersection between the cone-shaped portion and the cylindrically-shaped portion is blended to form a substantially curved surface at the intersection.

6. The method of claim 1, further comprising:

determining, by the processor, whether a position of the reference point is within the virtual haptic volume;

wherein the orientation angle of the axis of the instrument is determined upon determining that the position of the reference point is within the virtual haptic volume;

determining, by the processor, a decrease in the orientation angle of the axis of the instrument relative to the plane normal to the target axis; and

decreasing, by the processor, the virtual haptic volume based on the decrease in the orientation angle of the axis of the instrument relative to the plane normal to the target axis.

7. The method of claim 6, wherein decreasing the virtual haptic volume includes decreasing a distance of the boundary of the virtual haptic volume from the target axis.

8. The method of claim 1, wherein the virtual haptic boundary is configured to constrain the axis of the instrument from being moved to an angle substantially greater than the determined orientation angle.

9. The method of claim 1, further comprising determining a distance between the reference point of the instrument and the target axis, the virtual haptic boundary providing a haptic force configured to constrain the reference point of the instrument from being positioned at a distance greater than the distance between the reference point of the instrument and the target axis.

10. The method of claim 9, further comprising applying, if a distance between the reference point of the instrument and the target axis is less than a threshold distance, a second haptic force configured to urge the reference point to a position along the target axis.