Systems and methods for a robotic-assisted revision procedure

Patent metadata

Field	Value
Publication number	US-10716630-B2
Application number	US-201715649416-A
Country	US
Kind code	B2
Filing date	Jul 13, 2017
Priority date	Jul 15, 2016
Publication date	Jul 21, 2020
Grant date	Jul 21, 2020

Abstract

A method for performing a revision surgery using a robotic-assisted surgery system includes determining information related to an interface area between an implant component and a bone, and generating a planned virtual boundary associated with a portion of the interface area to be removed in a representation of the implant and the bone, based at least in part on the information related to the interface area. The method further includes tracking movement in the physical space of a cutting tool such that movement of the cutting tool is correlated with movement of a virtual tool, and providing a constraint on the cutting tool while the cutting tool removes the portion of the interface area. The constraint is based on a relationship between the virtual tool and the planned virtual boundary. The portion of the interface area is removed to remove the implant component from the bone.

First claim

What is claimed is:

1. A method for performing a revision surgery using a robotic-assisted surgery system, the method comprising:
determining, by a processing circuit associated with a computer, information related to an interface area between a primary implant component and a bone on which the primary implant component is implanted;
generating, by the processing circuit, a planned virtual boundary corresponding to a portion of the interface area to be removed to detach the primary implant component from the bone based at least in part on the information related to the interface area;
tracking, by a navigation system associated with the computer, movement in physical space of a cutting tool such that movement of the cutting tool is correlated with movement of a virtual tool;
facilitating removal of the primary implant component from the bone by providing a constraint on the cutting tool while the cutting tool removes the portion of the interface area, the constraint based on a relationship between the virtual tool and the planned virtual boundary;
determining, by the processing circuit, a second planned virtual boundary in a representation of the bone representing one or more additional cuts in the bone to prepare the bone to receive a replacement implant; and
providing a constraint on the cutting tool while the cutting tool performs the one or more additional cuts to prepare the bone, the constraint based on a relationship between the virtual tool and the second planned virtual boundary.

2. The method of claim 1 , wherein determining information related to an interface area comprises generating models of the bone and the implant component implanted thereon.

3. The method of claim 2 , wherein the bone models were created from images obtained in relation to a primary procedure during which the implant component was implanted on the bone.

4. The method of claim 2 , wherein the models are generated by at least one modality from a group consisting of: CT, x-ray, fluoroscope, MRI, ultrasound, video camera, and tracked markers.

5. The method of claim 1 , wherein determining information related to an interface area comprises digitizing the interface area with a tracked probe.

6. The method of claim 1 , further comprising receiving an input for adjusting the virtual boundary relative to the representation of the implant and the bone.

7. The method of claim 1 , wherein the virtual boundary is a haptic boundary and wherein providing the constraint comprises providing haptic feedback to the cutting tool.

8. The method of claim 1 , wherein the virtual boundary is an autonomous control boundary and wherein providing the constraint comprises autonomously controlling the cutting tool to remain within the control boundary.

9. The method of claim 1 , wherein the cutting tool is one or more tools from the group consisting of: a planar saw, a curved saw, and a burr.

10. The method of claim 1 , further comprising determining, by the processing circuit, information related to at least one of a size, a quantity, and a location of bone defects near the interface which require an augment.

11. The method of claim 10 , wherein the information is determined pre-operatively.

12. The method of claim 10 , wherein the information is determined by digitizing the bone defects with a tracked probe.

13. The method of claim 1 , further comprising:
using a video camera to obtain an image of the bone after the implant component has been removed; and
generating a bone model of the bone based on the image for planning replacement of the implant component.

14. The method of claim 1 , further comprising determining a desired pose of a replacement implant component to be implanted on the bone.

15. A system for performing revision surgery, the system comprising:
a robotic system comprising an articulated arm and a surgical tool coupled to the articulated arm;
a navigation system configured to characterize movement of at least one of the articulated arm, the surgical tool, and a portion of the patient's anatomy for revision; and
a processor operatively coupled to the robotic system and the navigation system, and configured to:
determine information related to an interface area between a primary implant component and a bone on which the primary implant component is implanted;
generate a planned virtual boundary corresponding to a portion of the interface area to be removed to detach the primary implant component from the bone based at least in part on the information related to the interface area;
track, using the navigation system, movement in physical space of the surgical tool such that movement of the surgical tool is correlated with movement of a virtual tool;
facilitate removal of the primary implant component from the bone by providing a constraint on the surgical tool during removal of the portion of the interface area, the constraint based on a relationship between the virtual tool and the planned virtual boundary;
determine a second planned virtual boundary in a representation of the bone representing one or more additional cuts in the bone to prepare the bone to receive a replacement implant; and
provide a constraint on the surgical tool during performance of one or more additional cuts to prepare the bone, the constraint based on a relationship between the virtual tool and the second planned virtual boundary.

16. The system of claim 15 , further comprising an imaging system operatively coupled to the processor for determining the information related to the interface area, wherein the imaging system comprises at least one of the imaging modalities from the group consisting of: CT, x-ray, fluoroscope, Mill, ultrasound, video camera, and tracked markers.

17. The system of claim 15 , further comprising a tracked probe for digitizing the interface area.

18. The system of claim 15 , wherein the surgical tool coupled to the articulated arm comprises an end effector, the end effector comprising:
at least one flexible bending element capable of movement in two degrees of freedom, the bending element comprising a distal end, a proximal end and an internal channel;
a shaft coupled to the proximal end of the flexible bending element and configured to secure the end effector to a surgical system; and
a motor housed in the shaft and coupled to the cutting tool to provide power to the cutting tool;
wherein a cutting element is coupled to the distal end of the flexible bending element.

Assignees

• Mako Surgical Corp

Inventors

• Krebs Viktor
• Kang Hyosig
• Kasodekar Snehal
• Harrow Matt
• Ding Jienan
• Chang Ta-Cheng
• Wu Min
• Gonzalez Jean
• Ebbitt Peter

Classifications

• A61F2002/4632

  using computer-controlled surgery, e.g. robotic surgery · CPC title

• A61F2/4607

  of hip femoral endoprostheses · CPC title

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title