Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool

• US 9,597,157 B2
• Filed: 02/23/2015
• Issued: 03/21/2017
• Est. Priority Date: 10/01/2009
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Hagag, Benny, Kang, Hyosig, Mozes, Alon, Odermatt, Daniel, Schmitz, Brian D.
• Primary Examiner(s): SEVILLA, CHRISTIAN ANTHONY
• Application Number:
  US14/628,888
• Publication Number:
  US 20150164600A1
• Time in Patent Office: 757 Days
• US Class Current: 1/1
• 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 includes a surgical tool configured to be coupled to a cutting element, a force system configured to provide at least some force to the surgical tool, and a controller programmed to generate control signals. The control signals cause the force system to provide a first constraint on a user'"'"'s manual movement of the surgical tool when the cutting element is a first cutting element and provide a second constraint, different from the first constraint, on a user'"'"'s manual movement of the surgical tool when the cutting element is a second cutting element.

Claims

1. A surgical system, comprising:

a surgical tool configured to be coupled to a cutting element;

a force system configured to provide at least some force to the surgical tool; and

a controller programmed to generate control signals that cause the force system to;

provide a first constraint on a user'"'"'s manual movement of the surgical tool in one degree of freedom when the cutting element is a first cutting element; and

provide a second constraint, in addition to the first constraint, on the user'"'"'s manual movement of the surgical tool when the cutting element is a second cutting element, wherein the second constraint comprises a constraint in a second degree of freedom, thereby constraining the user'"'"'s manual movement of the surgical tool in two degrees of freedom when the cutting element is a second cutting element.

2. The surgical system of claim 1, wherein a diameter of the first cutting element is different from a diameter of the second cutting element.

3. The surgical system of claim 1, wherein the first and second cutting elements are each configured to cut a bone to receive a prosthetic component, and

wherein a diameter of the first cutting element is less than a diameter of the prosthetic component by a predetermined amount and a diameter of the second cutting element is greater than the diameter of the first cutting element.

4. The surgical system of claim 3, wherein the predetermined amount is five millimeters less than the diameter of the prosthetic component.

5. The surgical system of claim 1, wherein the first constraint is configured to constrain, along a reference axis, at least one point associated with the cutting element.

6. The surgical system of claim 5, wherein the reference axis is a desired axis of a prosthetic component when the prosthetic component is implanted on an anatomy of a patient.

7. The surgical system of claim 5, wherein the at least one point is a point on a central axis of the cutting element.

8. The surgical system of claim 5, wherein the at least one point is disposed on the cutting element.

9. The surgical system of claim 1, wherein the second constraint is configured to constrain an orientation of the surgical tool relative to a reference axis.

10. The surgical system of claim 9, wherein the reference axis is a desired axis of a prosthetic component when the prosthetic component is implanted on an anatomy of a patient.

11. The surgical system of claim 9, wherein the second constraint is configured to constrain the surgical tool to maintain an axis of the surgical tool within a predefined angular distance from the reference axis.

12. The surgical system of claim 11, wherein the axis of the surgical tool is at least one of an axis of a shaft of the surgical tool and a central axis of the cutting element.

13. The surgical system of claim 1, wherein the controller is further programmed to generate control signals that cause the force system to provide at least one of the first constraint and the second constraint when a portion of at least one of the first cutting element and the second cutting element coincides with an activation region.

14. The surgical system of claim 13, wherein the activation region is defined relative to a planned pose of a prosthetic component implanted on an anatomy of a patient.

15. The surgical system of claim 14, wherein at least a portion of the activation region at least one of extends beyond a boundary of the planned pose and coincides with at least a portion of the planned pose.

16. The surgical system of claim 1, wherein the controller is further programmed to automatically control at least one aspect of a pose of the surgical tool if the user manually overrides at least one of the first constraint and the second constraint.

17. The surgical system of claim 1, wherein the first constraint is configured to constrain the user'"'"'s manual movement of the surgical tool as the user makes a preliminary cut with the first cutting element and the second constraint is configured to constrain the user'"'"'s manual movement of the surgical tool as the user makes a final cut with the second cutting element.

18. The surgical system of claim 17, wherein the controller is programmed to deactivate the second cutting element when a shape of the final cut substantially corresponds to a desired shape of the final cut.