System and method for preparing bone

Patent metadata

Field	Value
Publication number	US-11065067-B2
Application number	US-201816148624-A
Country	US
Kind code	B2
Filing date	Oct 1, 2018
Priority date	Feb 24, 2009
Publication date	Jul 20, 2021
Grant date	Jul 20, 2021

Abstract

A robotic system for preparing a bone to repair a bone fracture, includes a controllable guide structure configured to guide preparation of at least one bone piece during execution of a surgical plan and a control system configured to define the surgical plan. Defining the surgical plan includes determining a desired relationship between at least a first bone piece and a second bone piece that are separated by the bone fracture and planning preparation of the first bone piece to include a prepared anatomical structure configured to align the first bone piece with the second bone piece such that when aligned, the first bone piece and the second bone piece will achieve the desired relationship. The control system is further configured to control the controllable guide structure according to the surgical plan.

First claim

What is claimed is:

1. A robotic system for preparing a bone to repair a bone fracture, comprising:
a controllable guide structure configured to guide preparation of at least one bone piece during execution of a surgical plan; and
a control system configured to define the surgical plan, wherein defining the surgical plan comprises:
determining a desired relationship between at least a first bone piece and a second bone piece that are separated by the bone fracture; and
planning preparation of the first bone piece to include a prepared anatomical structure configured to directly mate with the second bone piece to align the first bone piece with the second bone piece such that when aligned, the first bone piece and the second bone piece will achieve the desired relationship; and

wherein the control system is further configured to control the controllable guide structure to facilitate preparing of the first bone piece to include the prepared anatomical structure according to the surgical plan.

2. The system of claim 1 , wherein the controllable guide structure is a robotic arm.

3. The system of claim 1 , wherein the control system is further configured to plan preparation of the second bone piece to include a prepared anatomical structure configured to align the first bone piece with the second bone piece.

4. The system of claim 3 , wherein the prepared anatomical structure of the first bone piece is configured to engage with the prepared anatomical structure of the second bone piece to achieve the desired relationship.

5. The system of claim 1 , wherein the control system is further configured to plan preparation of the first bone piece to include a second prepared anatomical structure configured to align with a hardware component.

6. The system of claim 5 , wherein the second prepared anatomical structure is a projection or a recess configured to engage with the hardware component.

7. The system of claim 1 , wherein the second bone piece is a harvested bone piece and wherein the control system is further configured to plan preparation of the harvested bone piece to align with the prepared anatomical structure on the first bone piece.

8. The system of claim 1 , wherein the control system is further configured to determine the desired relationship by determining a proper alignment and orientation of the first bone piece relative to the second bone piece.

9. A method for repairing a bone fracture, comprising:
using a computer to create a surgical plan, wherein creating the surgical plan comprises:
determining a desired relationship between at least a first bone piece and a second bone piece that are separated by the bone fracture; and
planning preparation of the first bone piece to include a prepared anatomical structure configured to directly mate with the second bone piece to align the first bone piece with the second bone piece such that when aligned, the first bone piece and the second bone piece will achieve the desired relationship; and

preparing the first bone piece to include the prepared anatomical structure according to the surgical plan.

10. The method of claim 9 , further comprising preparing the second bone piece with the prepared anatomical structure configured to align the first bone piece with the second bone piece.

11. The method of claim 10 , further comprising planning preparation of the first bone piece and the second bone piece to each include a second prepared anatomical structure and preparing at least the second prepared anatomical structure in each of the first bone piece and the second bone piece.

12. The method of claim 10 , wherein the prepared anatomical structure of the first bone piece is configured to engage with the prepared anatomical structure of the second bone piece to achieve the desired relationship.

13. The method of claim 12 , wherein the prepared anatomical structure of the first bone piece and the prepared anatomical structure of the second bone piece are configured to directly matingly engage.

14. The method of claim 13 , wherein the prepared anatomical structure of the first bone piece is a recess and the prepared anatomical structure of the second bone piece is a projection, such that the recess of the first bone piece receives the projection of the second bone piece.

15. The method of claim 9 , further comprising planning preparation of the first bone piece to include a second prepared anatomical structure configured to align with a hardware component and preparing the first bone piece to include the second prepared anatomical structure.

16. The method of claim 15 , wherein the second prepared anatomical structure is a projection or a recess configured to engage with the hardware component.

17. The method of claim 9 , wherein the second bone piece is a harvested bone piece and wherein the method further comprises preparing the harvested bone piece to align with the prepared anatomical structure on the first bone piece.

18. The method of claim 9 , wherein determining the desired relationship comprises determining a proper alignment and orientation of the first bone piece relative to the second bone piece.

19. A method for repairing a bone fracture, comprising:
using a computer to create a surgical plan, wherein creating the surgical plan comprises:
determining a desired relationship between a first bone piece and a second bone piece that are separated by the bone fracture; and
planning preparation of the first bone piece to include a prepared anatomical structure configured to directly mate with the second bone piece such that when directly mated, the first bone piece and the second bone piece will achieve the desired relationship; and

controlling a controllable guide structure to facilitate preparation of the first bone piece to include the prepared anatomical structure.

20. The method of claim 19 , wherein the controllable guide structure comprises a robotic arm.

Assignees

• Mako Surgical Corp

Inventors

• Nortman Scott David
• Mistry Amit
• Otto Jason K
• Vorhis Robert Van
• Nadzadi Mark Ellsworth
• Jamieson Miranda

Classifications

• A61F2/30771 Primary

  applied in original prostheses, e.g. holes or grooves · CPC title

• A61B17/175

  for preparing the femur for hip prosthesis insertion · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61F2002/30805

  Recesses of comparatively large area with respect to their low depth · CPC title

• A61F2002/3895

  unicompartimental · CPC title