SURGICAL SYSTEM FOR POSITIONING PROSTHETIC COMPONENT AND/OR FOR CONSTRAINING MOVEMENT OF SURGICAL TOOL

• US 20170189203A1
• Filed: 03/20/2017
• Published: 07/06/2017
• Est. Priority Date: 10/01/2009
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Kang, Hyosig, Schmitz, Brian D., Mozes, Alon, Odermatt, Daniel, Hagag, Benny
• Granted Patent: US 9,770,306 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 17/1617 with mobile or detachable parts
• CPC Class Codes: A61B 17/162 Chucks or tool parts which are to be held in a chuck
• CPC Class Codes: A61B 17/1631 Special drive shafts, e.g. flexible shafts A61B17/1642, A61B17/164 take precedence
• CPC Class Codes: A61B 17/1655 for tapping
• CPC Class Codes: A61B 17/1659 Surgical rasps, files, planes, or scrapers
• CPC Class Codes: A61B 17/1664 for the hip
• CPC Class Codes: A61B 17/1666 for the acetabulum
• CPC Class Codes: A61B 17/1684 for the shoulder
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61F 2/34 Acetabular cups
• CPC Class Codes: A61F 2/36 Femoral heads ; Femoral endoprostheses
• CPC Class Codes: A61F 2/4607 : of hip femoral endoprostheses
• CPC Class Codes: A61F 2/4609 : of acetabular cups
• CPC Class Codes: Y10T 74/20305 : Robotic arm

Abstract

A surgical system for positioning a prosthetic component includes a surgical tool and a force system configured to provide a force to the surgical tool. The system further includes a controller programmed to: compare an actual pose of a prosthetic component engaged by the surgical tool and a target pose of the prosthetic component, and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and to provide a force to constrain movement of the surgical tool beyond the range of movement. The force resists movement of the surgical tool that would cause substantial deviation between an aspect of the actual pose of the prosthetic component and a corresponding aspect of the target pose. The controller is programmed to generate control signals that cause the force system to maintain the force as the prosthetic component is implanted on the anatomy.

Claims

1. A surgical system for positioning a prosthetic component on an anatomy of a patient, comprising:

a surgical tool;

a force system configured to provide a force to the surgical tool; and

a controller programmed to;

compare an actual pose of a prosthetic component engaged by the surgical tool and a target pose of the prosthetic component; and

generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and to provide a force to constrain movement of the surgical tool beyond the range of movement, wherein the force resists manual movement of the surgical tool that would cause substantial deviation between at least one aspect of the actual pose of the prosthetic component and a corresponding aspect of the target pose of the prosthetic component;

wherein the controller is programmed to generate control signals that cause the force system to maintain the force as the prosthetic component is implanted on the anatomy.

2. The surgical system of claim 1, wherein the at least one aspect of the actual pose and the corresponding aspect of the target pose include at least one of an angle, an axis, an orientation, a center of rotation, a boundary, and a depth.

3. The surgical system of claim 1, wherein the target pose includes a planned pose of the prosthetic component implanted on the anatomy and an activation region.

4. The surgical system of claim 3, wherein the activation region extends beyond a boundary of the planned pose.

5. The surgical system of claim 3, wherein at least a portion of the planned pose and at least a portion of the activation region coincide.

6. The surgical system of claim 3, wherein the activation region includes a cylindrical volume coaxial with an axis of the planned pose.

7. The surgical system of claim 3, wherein the controller is further programmed to:

generate signals to activate the force when at least a portion of the actual pose of the prosthetic component coincides with at least a portion of the activation region of the target pose.

8. The surgical system of claim 1, wherein the controller is further programmed to:

initiate automatic control of the prosthetic component to substantially align the at least one aspect of the actual pose with the corresponding aspect of the target pose.

9. The surgical system of claim 1, wherein the tool comprises an end effector configured to be coupled to a robotic arm and including a first portion configured to engage the prosthetic component and a second portion configured to receive an impact force for implanting the prosthetic component on the anatomy of the patient.

10. The surgical system of claim 9, wherein the end effector comprises:

a mounting portion configured to be coupled to a corresponding mounting portion of the robotic arm such that the mounting portions are fixed relative to one another; and

an operating member configured to translate relative to the coupled mounting portions when the impact force is applied to the second portion of the end effector.

11. The surgical system of claim 1, further comprising a tracking device configured to be positioned on the anatomy of the patient, to track movement of the anatomy relative to the surgical tool during a surgical procedure and create position data representative of the position of the anatomy, and wherein the controller is programmed to generate the control signals based on the position data.

12. A method for controlling a surgical tool while positioning a prosthetic component on an anatomy of a patient:

tracking a surgical tool coupled to a prosthetic component;

comparing, using tracking data, an actual pose of the prosthetic component engaged by the surgical tool and a target pose of the prosthetic component;

controlling movement of the surgical tool within a range of movement and providing a force to constrain movement of the surgical tool beyond the range of movement, wherein the force resists movement of the surgical tool that would cause substantial deviation between at least one aspect of the actual pose of the prosthetic component and a corresponding aspect of the target pose of the prosthetic component; and

maintaining the force as the prosthetic component is implanted on the anatomy.

13. The method of claim 12, wherein the at least one aspect of the actual pose and the corresponding aspect of the target pose include at least one of an angle, an axis, an orientation, a center of rotation, a boundary, and a depth.

14. The method of claim 12, wherein the target pose includes a planned pose of the prosthetic component implanted on the anatomy and an activation region.

15. The method of claim 14, further comprising:

generating signals to activate the force when at least a portion of the actual pose of the prosthetic component coincides with at least a portion of the activation region of the target pose.

16. The method of claim 12, further comprising:

initiating automatic control of the prosthetic component to substantially align the at least one aspect of the actual pose with the corresponding aspect of the target pose.

17. The method of claim 12, wherein the tool comprises an end effector configured to be coupled to a robotic arm and including a first portion configured to engage the prosthetic component and a second portion configured to receive an impact force for implanting the prosthetic component on the anatomy of the patient.

18. The method of claim 17, wherein the end effector comprises:

a mounting portion configured to be coupled to a corresponding mounting portion of the robotic arm such that the mounting portions are fixed relative to one another; and

an operating member configured to translate relative to the coupled mounting portions when the impact force is applied to the second portion of the end effector.

19. The method of claim 12, further comprising:

tracking movement of the anatomy relative to the surgical tool during a surgical procedure;

creating position data representative of the position of the anatomy; and

controlling the surgical tool based on the position data.