Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
First Claim
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;
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;
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; and
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.
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Accused Products
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.
77 Citations
15 Claims
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1. A surgical system for positioning a prosthetic component on an anatomy of a patient, comprising:
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a surgical tool; a force system configured to provide a force to the surgical tool; 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; 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; and 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for controlling a surgical tool while positioning a prosthetic component on an anatomy of a patient:
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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; maintaining the force as the prosthetic component is implanted on the anatomy; 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; and 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. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification