System and method for performing surgical procedure using drill guide and robotic device operable in multiple modes

• US 9,636,185 B2
• Filed: 06/02/2016
• Issued: 05/02/2017
• 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., Abovitz, Rony A.
• Primary Examiner(s): COLEY, ZADE JAMES
• Application Number:
  US15/171,717
• Publication Number:
  US 20160278870A1
• Time in Patent Office: 334 Days
• 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

System and method for performing a surgical procedure using a drill guide and a robotic device operable in multiple modes. The drill guide is mechanically coupled to the robotic device. A pre-defined virtual trajectory constrains movement of the drill guide. In a first mode, a user is able to manually manipulate the drill guide while movement of the drill guide is constrained by the pre-defined virtual trajectory. In a second mode, the robotic device operates autonomously, for instance, to perform service on the robotic device.

Claims

1. A computer-assisted surgery system for performing a surgical procedure at a target area on a patient'"'"'s anatomy, said computer-assisted surgery system comprising:

a robotic device having a plurality of joints and a plurality of actuators;

a drill guide mechanically coupled to said robotic device, wherein said robotic device is configured to constrain said drill guide according to a haptic object comprising a pre-defined virtual trajectory with said drill guide being movable along said pre-defined virtual trajectory toward the target area on the patient'"'"'s anatomy; and

a computer in communication with said robotic device and configured to command said robotic device to operate in one of a first mode in which said drill guide is manually manipulated by a user or a second mode in which said robotic device operates autonomously,

wherein said robotic device is configured to be controlled by said computer to generate haptic feedback in said first mode in response to said drill guide being manually manipulated by the user in said first mode in order to maintain said drill guide along said pre-defined virtual trajectory.

2. The computer-assisted surgery system of claim 1, wherein said computer is further configured to receive a preoperative image dataset of the patient'"'"'s anatomy taken with an imaging modality.

3. The computer-assisted surgery system of claim 2, wherein said computer is further configured to enable defining anatomical targets for deep-brain stimulation on the preoperative image dataset.

4. The computer-assisted surgery system of claim 2, wherein said computer is further configured to register the preoperative image dataset to the patient'"'"'s anatomy.

5. The computer-assisted surgery system of claim 2, wherein said computer is further configured to receive a second preoperative image dataset of the patient'"'"'s anatomy taken with a second imaging modality and register the preoperative image datasets to the patient'"'"'s anatomy.

6. The computer-assisted surgery system of claim 1, further comprising a display for displaying images of the patient'"'"'s anatomy.

7. The computer-assisted surgery system of claim 1, further comprising an imaging modality for generating an image dataset of the target area of the patient'"'"'s anatomy.

8. The computer-assisted surgery system of claim 1, further comprising a camera and an array of trackable markers attachable to the patient'"'"'s anatomy.

9. The computer-assisted surgery system of claim 8, wherein said trackable markers comprise passive reflective markers.

10. The computer-assisted surgery system of claim 1, wherein said robotic device comprises a robotic arm configured to move said drill guide in at least four degrees of freedom.

11. The computer-assisted surgery system of claim 10, wherein said robotic arm comprises a cable transmission.

12. A method for performing a surgical procedure at a target area on a patient'"'"'s anatomy using a computer-assisted surgery system comprising a computer and a robotic device in communication with the computer, the robotic device having a plurality of joints and a plurality of actuators, said method comprising the steps of:

determining, with the computer-assisted surgery system, a position of a drill guide relative to a haptic object comprising a pre-defined virtual trajectory with the drill guide being mechanically coupled to the robotic device;

commanding, by the computer-assisted surgery system, the robotic device to operate in one of a first mode or a second mode, wherein the drill guide is manually manipulated by a user in the first mode and the robotic device operates autonomously in the second mode; and

generating, with the robotic device, haptic feedback in response to the drill guide being manually manipulated by the user in the first mode to constrain the drill guide to the pre-defined virtual trajectory with the drill guide moveable along the pre-defined virtual trajectory to provide access to the target area on the patient'"'"'s anatomy.

13. The method of claim 12, further comprising receiving, at the computer-assisted surgery system, a preoperative image dataset taken of the patient'"'"'s anatomy using an imaging modality.

14. The method of claim 13, further comprising defining anatomical targets for deep-brain stimulation on the preoperative image dataset.

15. The method of claim 13, further comprising registering the preoperative image dataset to the patient'"'"'s anatomy.

16. The method of claim 13, further comprising receiving, at the computer-assisted surgery system, a second preoperative image dataset taken of the patient'"'"'s anatomy using a second imaging modality and registering, with the computer-assisted surgery system, the preoperative image datasets to the patient'"'"'s anatomy.

17. The method of claim 12, further comprising displaying images of the patient'"'"'s anatomy on a display.

18. The method of claim 12, further comprising displaying a virtual representation of the pre-defined virtual trajectory on a display.

19. The method of claim 12, further comprising generating an image dataset of the target area of the patient'"'"'s anatomy.

20. The method of claim 12, wherein determining, with the computer-assisted surgery system, the position of the drill guide relative to the pre-defined virtual trajectory comprises tracking the patient'"'"'s anatomy with a camera and an array of trackable markers attached to the patient'"'"'s anatomy.