Systems and methods for repairing bone with multiple tools

Patent metadata

Field	Value
Publication number	US-10045826-B2
Application number	US-201514600972-A
Country	US
Kind code	B2
Filing date	Jan 20, 2015
Priority date	Jan 20, 2015
Publication date	Aug 14, 2018
Grant date	Aug 14, 2018

Abstract

A method for repairing a bone of a patient may include superimposing a first virtual boundary on a virtual bone and superimposing a second virtual boundary on the virtual bone. The method may further include robotically modifying the bone of the patient with a planar tool along a first working boundary to create a first surface. The first working boundary may correspond to the first virtual boundary. The method may further include robotically modifying the bone of the patient with a rotary tool along a second working boundary to create a second surface. The second working boundary may correspond to the second virtual boundary.

First claim

We claim:

1. A method for repairing a bone of a patient, comprising:
superimposing a first virtual boundary on a virtual bone;
superimposing a second virtual boundary on the virtual bone;
robotically modifying the bone of the patient with a planar tool along a first working boundary to create a first surface, wherein the first working boundary corresponds to the first virtual boundary; and
robotically modifying the bone of the patient with a rotary tool along a second working boundary to create a second surface, wherein the second working boundary corresponds to the second virtual boundary.

2. The method of claim 1 , wherein the bone is a tibia, the first surface is a tibial floor, and the second surface is a tibial wall.

3. The method of claim 2 , wherein at least a portion of the tibial wall is substantially perpendicular to at least a portion of the tibial floor.

4. The method of claim 1 , wherein the first surface is planar.

5. The method of claim 1 , wherein the planar tool and the rotary tool are adapted to removably connect to an end of a robotic arm, and the method further comprises:
at least one of (a) removing the planar tool from the end of the robotic arm and connecting the rotary tool to the end of the robotic arm, or (b) removing the rotary tool from the end of the robotic arm and connecting the planar tool to the end of the robotic arm.

6. The method of claim 1 , further comprising:
securing an implant to the first surface without the use of an adhesive.

7. The method of claim 6 , wherein the implant is at least partially formed of a porous material.

8. The method of claim 6 , wherein the implant includes a keel, and the method further comprises:
before securing the implant and after creating the first surface, robotically modifying the first surface with a drill to create an indentation in the first surface to receive the keel of the implant.

9. The method of claim 8 , wherein the drill includes a first drilling portion having a first diameter and a second drilling portion having a second diameter larger than the first diameter.

10. The method of claim 8 , wherein the planar tool, rotary tool, and drill are each adapted to removably connect to an end of a robotic arm, and the method further comprises:
removing at least one of the planar tool or the rotary tool from the end of the robotic arm; and
connecting the drill to the end of the robotic arm.

11. The method of claim 1 , further comprising:
placing an implant adjacent to the first and second surfaces of the bone.

12. The method of claim 11 , wherein the implant includes a distal planar surface at least partially formed of a porous material, and wherein the step of placing the implant does not include use of an adhesive.

13. The method of claim 12 , wherein the distal planar surface of the implant is in substantially continuous contact with the first surface of the bone.

14. The method of claim 1 , wherein the method further comprises securing a press-fit component to the bone.

15. The method of claim 1 , wherein the planar tool is a saw, the rotary tool is a burr, and the saw and the burr are adapted to interchangeably connect to the end of a robotic arm.

16. The method of claim 1 , further comprising securing an implant to the bone, wherein:
the implant includes a plurality of bone-facing surfaces corresponding to a plurality of prepared bone surfaces,
the prepared bone surfaces include the first and second surfaces, and
securing the implant to the bone results in at least a first region and a second region between the implant and the bone that each have greater contact than a third region between the implant and the bone.

17. A method for bone preparation, comprising:
superimposing a first virtual boundary on a virtual bone; and
superimposing a second virtual boundary on the virtual bone;
wherein a planar surface of the second virtual boundary is offset from and substantially parallel to a planar surface of the first virtual boundary.

18. The method of claim 17 , wherein the virtual bone represents a tibia.

19. The method of claim 17 , wherein the planar surface of the first virtual boundary is configured to guide a robotic arm to cut a bone with a first tool to create a first surface.

20. The method of claim 19 , wherein the planar surface of the second virtual boundary is configured to guide the robotic arm to extend the first surface of the bone with a second tool.

21. The method of claim 17 , wherein the second virtual boundary is offset in a superior direction with respect to the first virtual boundary.

22. A method for repairing a bone of a patient, comprising:
superimposing a first virtual boundary on a virtual bone;
superimposing a second virtual boundary on the virtual bone;
robotically modifying the bone of the patient with an oscillating planar tool along a first working boundary to create a first surface, wherein the first working boundary corresponds to the first virtual boundary; and
robotically modifying the bone of the patient with a reciprocating planar tool along a second working boundary to create a second surface, wherein the second working boundary corresponds to the second virtual boundary.

23. The method of claim 22 , wherein the oscillating planar tool and the reciprocating planar tool are adapted to removably connect to the end of a robotic arm, and the method further comprises:
at least one of (a) removing the oscillating planar tool from the end of the robotic arm and connecting the reciprocating planar tool to the end of the robotic arm, or (b) removing the reciprocating planar tool from the end of the robotic arm and connecting the oscillating planar tool to the end of the robotic arm.

Assignees

• Mako Surgical Corp
• Mako Surgical Corp

Inventors

• Abbasi Ali Zafar
• Greenwald Jonathan
• Frank Philip H

Classifications

• A61B34/25

  User interfaces for surgical systems · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B34/35

  for telesurgery · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B17/142

  with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades · CPC title