Robotic surgery system for augmented hip arthroplasty procedures

Patent metadata

Field	Value
Publication number	US-11478362-B2
Application number	US-202017257162-A
Country	US
Kind code	B2
Filing date	Aug 20, 2020
Priority date	Aug 29, 2019
Publication date	Oct 25, 2022
Grant date	Oct 25, 2022

Abstract

A system for facilitating arthroplasty procedures includes a robotic device, a reaming tool configured to interface with the robotic device, and a processing circuit communicable with the robotic device. The processing circuit is configured to obtain a surgical plan comprising a first planned position of an implant cup and a second planned position of an implant augment relative to a bone of a patient, determine a planned bone modification configured to prepare the bone to receive the implant cup in the first planned position and the implant augment in the second planned position, generate one or more virtual objects based on the planned bone modification, control the robotic device to constrain the cutting tool with the one or more virtual objects while the cutting tool interfaces with the robotic device and is operated to modify the bone in accordance with the planned bone modification.

First claim

What is claimed is:

1. A system for facilitating arthroplasty procedures, comprising:
a robotic device;
a cutting tool configured to interface with the robotic device; and
a processing circuit communicable with the robotic device and programmed to:
obtain a surgical plan comprising a first planned position of a revision implant and a second planned position of an implant augment relative to a bone of a patient such that the implant augment is planned to support the revision implant, by:
obtaining images of the bone and a previous implant coupled to the bone;
segmenting the images to differentiate the bone and the previous implant; and
generating the surgical plan using the segmented images;

determine, based on the first planned position and the second planned position, a planned bone modification for preparing the bone to receive the revision implant in the first planned position and the implant augment in the second planned position;
generate one or more virtual objects based on the planned bone modification;
control the robotic device to constrain the cutting tool with the one or more virtual objects while the cutting tool interfaces with the robotic device and is operated to modify the bone in accordance with the planned bone modification.

2. The system of claim 1 , wherein the one or more virtual objects comprise a virtual object comprising a ream surface, the ream surface corresponding to both the revision implant and the implant augment.

3. The system of claim 1 , wherein the one or more virtual objects comprise a first virtual object comprising a cup surface corresponding to the revision implant and a second virtual object comprising an augment surface corresponding to the augment implant.

4. The system of claim 3 , wherein the processing circuit is programmed to control the robotic device to constrain the cutting tool with the one or more virtual objects by sequentially:
selecting the first virtual object and constraining the cutting tool with the first virtual object; and
selecting the second virtual object and constraining the cutting tool with the second virtual object.

5. The system of claim 1 , comprising:
a holder arm configured to be coupled to the robotic device;
wherein the processing circuit is programmed to control the robotic device to position the holder arm to temporarily hold the implant augment at the bone in the second planned position to facilitate fixation of the implant augment to the bone.

6. The system of claim 1 , comprising a tracking system configured to track relative positions of the bone and the robotic device, the tracking system configured to register a pose of the bone based on a measured pose of the previous implant.

7. The system of claim 1 , wherein the processing circuit is programmed to:
generate a virtual bone model based on the segmented images;
virtually position a virtual revision implant relative to the virtual bone model and a virtual representation of the previous implant to define the first planned position of the revision implant;
virtually position a virtual implant augment relative to the virtual revision implant to define the second planned position of the implant augment.

8. The system of claim 7 , wherein the processing circuit is programmed to require a pre-determined spacing between the virtual revision implant augment and the virtual implant.

9. The system of claim 7 , wherein the processing circuit is programmed to generate a graphical user interface that shows the virtual bone model, the virtual revision implant, and the virtual implant augment.

10. The system of claim 9 , wherein the graphical user interface shows one or more screw trajectories.

11. The system of claim 1 , comprising a tracking system and a probe, the tracking system configured to determine a position of the probe relative to the bone;
wherein the processing circuit is programmed to determine whether the implant augment is in the second planned position based on the position of the probe relative to the bone.

12. A method, comprising,
obtaining a surgical plan comprising a first planned position of an implant cup and a second planned position of an implant augment relative to a bone of a patient by:
obtaining images of the bone and a previous implant coupled to the bone;
segmenting the images to differentiate the bone and the previous implant; and
generating the surgical plan using the segmented images, comprising planning the second planned position such that the implant augment is planned to at least partially fill a space between the implant cup and the bone;

determining, based on the first planned position and the second planned position, a planned bone modification for preparing the bone to receive the implant cup in the first planned position and the implant augment in the second planned position;
generating one or more virtual objects based on the planned bone modification;
controlling a robotic device using the one or more virtual objects to facilitate modification of the bone with a surgical tool interfacing with the robotic device in accordance with the planned bone modification.

13. The method of claim 12 , wherein controlling the robotic device using the one or more virtual object comprises confining the surgical tool with the one or more virtual objects.

14. The method of claim 12 , wherein the one or more virtual objects comprise a virtual object comprising a ream surface corresponding to both the implant cup and the implant augment.

15. The method of claim 12 , wherein the one or more virtual objects comprise a first virtual object comprising a cup surface corresponding to the implant cup and a second virtual object comprising an augment surface corresponding to the implant cup.

16. The method of claim 15 , wherein controlling the robotic devices comprises:
selecting the first virtual object and using the first virtual object to constrain the surgical tool;
determining that the bone is prepared to receive the implant cup; and
selecting the second virtual object and using the second virtual object to constrain the surgical tool.

17. The method of claim 12 , comprising controlling the robotic device to cause the robotic device to hold the implant augment at the bone in the second planned position to facilitate fixation of the implant augment to the bone.

18. The method of claim 12 , wherein obtaining the surgical plan comprises requiring a pre-determined spacing between the virtual implant augment and the virtual implant cup.

Assignees

• Mako Surgical Corp

Inventors

• Thompson Matthew
• Chandra Varun
• Nadzadi Mark
• Perrone Christine
• Joyal Garrett

Classifications

• A61F2/4684

  Trial or dummy prostheses · CPC title

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61F2/30942

  for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• A61B2090/364

  Correlation of different images or relation of image positions in respect to the body · CPC title