System and method for demonstrating planned autonomous manipulation of an anatomy

• US 9,812,035 B2
• Filed: 05/19/2016
• Issued: 11/07/2017
• Est. Priority Date: 05/19/2015
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Stuart, John Michael, Culp, Jerry A., Moctezuma de la Barrera, Jose Luis
• Primary Examiner(s): Jen, Ian
• Application Number:
  US15/158,909
• Publication Number:
  US 20160343273A1
• Time in Patent Office: 537 Days
• CPC Class Codes: A61B 17/16 Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans arthroscopic bone cutters A61B17/320016; dental implant drills potentially for other surgical use A61C8/0089; bone grinders A61F2/4644, A22C17/06; A61B17/1662 takes precedence over all other subgroups except A61B17/17
• 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 2034/2055 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 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 2090/08021 of the patient or his organs
• 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 34/32 operating autonomously
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40315 Simulation with boundary graphs
• CPC Class Codes: G05B 2219/40418 Presurgical planning, on screen indicate regions to be operated on
• CPC Class Codes: G09B 23/28 for medicine

Abstract

Surgical systems and methods of demonstrating planned autonomous manipulation of an anatomy by a tool of a robotic surgical system include generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the tool in a first mode and generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy. The demonstrative parameters are less invasive to the anatomy than the manipulation parameters. The tool is moved in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.

Claims

1. A robotic surgical system for manipulating an anatomy and demonstrating planned autonomous manipulation of the anatomy, said system comprising:

an end effector being configured to manipulate the anatomy;

a demonstrative tool being configured to interact with the anatomy;

a controller configured to generate manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by said end effector in a first mode and generate demonstrative parameters relating to said manipulation parameters and defined in relation to a surface of the anatomy such that said demonstrative parameters are less invasive to the anatomy than said manipulation parameters and wherein said controller is configured to instruct movement of said demonstrative tool in accordance with said demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.

2. The robotic surgical system of claim 1 wherein said demonstrative tool is configured to manipulate the anatomy.

3. The robotic surgical system of claim 2 wherein said demonstrative parameters are defined such that said demonstrative tool penetrates the surface of the anatomy during movement in said second mode.

4. The robotic surgical system of claim 1 wherein said demonstrative parameters are non-invasive.

5. The robotic surgical system of claim 4 wherein said demonstrative parameters are defined such that said demonstrative tool is spaced apart from the surface of the anatomy throughout movement in said second mode.

6. The robotic surgical system of claim 1 wherein said end effector is configured to cut bone.

7. The robotic surgical system of claim 1 wherein said manipulation parameters define a cutting boundary in relation to the volume of the anatomy and wherein said demonstrative parameters define a demonstrative boundary relating to said cutting boundary.

8. The robotic surgical system of claim 1 wherein said manipulation parameters define a cutting path in relation to the volume of the anatomy and wherein said demonstrative parameters define a demonstrative path relating to said cutting path.

9. A method of demonstrating planned autonomous manipulation of an anatomy by an end effector of a robotic surgical system, said method comprising:

generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the end effector in a first mode;

generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy such that the demonstrative parameters are less invasive to the anatomy than the manipulation parameters; and

moving a demonstrative tool in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.

10. The method of claim 9 further including the step of producing a computer-generated model of the anatomy.

11. The method of claim 10 wherein the step of generating manipulation parameters includes generating the manipulation parameters based on the computer-generated model of the anatomy.

12. The method of claim 10 wherein the step of generating demonstrative parameters includes generating the demonstrative parameters based on the computer-generated model of the anatomy.

13. The method of claim 9 wherein the step of moving the demonstrative tool includes causing the demonstrative tool to remain spaced apart from the surface of the anatomy throughout movement in the second mode.

14. The method of claim 9 wherein the step of moving the demonstrative tool includes causing the demonstrative tool to penetrate the surface of the anatomy during movement in the second mode.

15. The method of claim 9 further including the step of switching between the second mode and the first mode.

16. The method of claim 15 further including the step of moving the end effector in accordance with the manipulation parameters to manipulate the anatomy in the first mode after switching from the second mode to the first mode.

17. A robotic surgical system for manipulating an anatomy and demonstrating planned autonomous manipulation of the anatomy, said system comprising:

a tool being configured to manipulate the anatomy;

a controller configured to generate manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by said tool in a first mode and generate demonstrative parameters relating to said manipulation parameters and defined in relation to a surface of the anatomy such that said demonstrative parameters are less invasive to the anatomy than said manipulation parameters and wherein said controller is configured to instruct movement of said tool in accordance with said demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.

18. The robotic surgical system of claim 17 wherein said demonstrative parameters are defined such that said tool penetrates the surface of the anatomy during movement in said second mode.

19. The robotic surgical system of claim 17 wherein said demonstrative parameters are non-invasive.

20. The robotic surgical system of claim 19 wherein said demonstrative parameters are defined such that said tool is spaced apart from the surface of the anatomy throughout movement in said second mode.

21. The robotic surgical system of claim 17 wherein said tool is configured to cut bone.

22. The robotic surgical system of claim 17 wherein said manipulation parameters define a cutting boundary in relation to the volume of the anatomy and wherein said demonstrative parameters define a demonstrative boundary relating to said cutting boundary.

23. The robotic surgical system of claim 17 wherein said manipulation parameters define a cutting path in relation to the volume of the anatomy and wherein said demonstrative parameters define a demonstrative path relating to said cutting path.

24. A method of demonstrating planned autonomous manipulation of an anatomy by a tool of a robotic surgical system, said method comprising:

generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the tool in a first mode;

generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy such that the demonstrative parameters are less invasive to the anatomy than the manipulation parameters; and

moving the tool in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.

25. The method of claim 24 further including the step of electrically activating manipulative capabilities of the tool in the first mode and electrically deactivating manipulative capabilities of the tool in the second mode.

26. The method of claim 24 further including the step of producing a computer-generated model of the anatomy.

27. The method of claim 26 wherein the step of generating manipulation parameters includes generating the manipulation parameters based on the computer-generated model of the anatomy.

28. The method of claim 24 wherein the step of generating demonstrative parameters includes generating the demonstrative parameters based on the computer-generated model of the anatomy.

29. The method of claim 24 wherein the step of moving the tool includes causing the tool to remain spaced apart from the surface of the anatomy throughout movement in the second mode.

30. The method of claim 24 wherein the step of moving the tool includes causing the tool to penetrate the surface of the anatomy during movement in the second mode.

31. The method of claim 24 further including the step of switching between the second mode and the first mode.

32. The method of claim 24 further including the step of moving the tool in accordance with the manipulation parameters to manipulate the anatomy in the first mode after switching from the second mode to the first mode.