Systems and methods for guiding an instrument using haptic object with collapsing geometry

Patent metadata

Field	Value
Publication number	US-11571259-B2
Application number	US-201916594310-A
Country	US
Kind code	B2
Filing date	Oct 7, 2019
Priority date	Dec 29, 2011
Publication date	Feb 7, 2023
Grant date	Feb 7, 2023

Abstract

A system includes a surgical device, an instrument coupled to the surgical device and defining an instrument axis, and a processor operatively coupled to the surgical device. The processor is configured to determine a current orientation angle of an instrument axis based on an orientation of a target axis, establish a virtual boundary, control the surgical device to apply a force to constrain the instrument axis within the virtual boundary, and collapse the virtual boundary as the instrument axis is brought into alignment with the target axis.

First claim

What is claimed is:

1. A system comprising:
a surgical device for performing at least one task associated with a surgical procedure; and
a processor operatively coupled to the surgical device and configured to:
determine a current orientation angle of an instrument axis of a surgical tool based on an orientation of a target axis when the instrument axis is not aligned with the target axis;
control the surgical device to apply a force based on the current orientation angle of the instrument axis, the force configured to constrain the instrument axis from being rotated to an angle greater than the current orientation angle.

2. The system of claim 1 , wherein the processor is configured to:
establish a virtual boundary, the processor configured to control the surgical device to apply the force to constrain the instrument axis within the virtual boundary; and
modify the virtual boundary to collapse the virtual boundary as the instrument axis is brought into alignment with the target axis.

3. The system of claim 1 , wherein the processor is configured to determine the current orientation angle of the instrument axis based on an orientation of the target axis by:
determining whether the instrument axis is coplanar with the target axis; and
if the instrument axis is coplanar with the target axis, measuring an orientation of the instrument axis relative to the target axis; and
if the instrument axis is not coplanar with the target axis:
identifying a line parallel with the target axis and coplanar to the instrument axis; and
measuring an orientation of the instrument axis relative to the identified line.

4. The system of claim 3 , wherein the line parallel with the target axis is normal to a plane that is normal to the target axis.

5. The system of claim 1 , wherein the processor is further configured to:
establish a virtual volume based on the target axis, wherein the virtual volume defines a boundary at which the force is applied to the surgical tool by the surgical device;
determine a position of a reference point of the surgical tool;
detect a decrease in the current orientation angle of the instrument axis; and
decrease the virtual volume in response to a determination that the reference point is within the virtual volume and the decrease in the current orientation angle of the instrument axis.

6. The system of claim 5 , wherein the processor is configured to decrease the virtual volume by decreasing a distance of the boundary of the virtual volume from the target axis.

7. The system of claim 6 , wherein the virtual volume is funnel-shaped and the processor is further configured to decrease the distance of the boundary of the virtual volume from the target axis by decreasing a base radius of the virtual volume.

8. The system of claim 6 , wherein at least a portion of the virtual volume is substantially cone-shaped, and the processor is further configured to decrease the distance of the boundary of the virtual volume from the target axis by decreasing a boundary angle of the virtual volume.

9. The system of claim 5 , further wherein the processor is further configured to determine a distance between the reference point and the target axis and control the surgical device to provide a force that constrains the reference point of the surgical tool from being moved to increase the distance between the reference point of the surgical tool and the target axis.

10. The system of claim 9 , wherein the processor is further configured to:
determine whether the distance between the reference point and the target axis is less than a threshold distance; and
in response to a determination that the distance between the reference point and the target axis is less than a threshold distance, control the surgical device to apply a second force configured to urge the reference point to a position along the target axis.

11. The system of claim 1 , wherein the force comprises haptic feedback.

12. A system, comprising:
a surgical device;
an instrument coupled to the surgical device and defining an instrument axis;
a processor operatively coupled to the surgical device and configured to:
determine a current orientation angle of an instrument axis based on an orientation of a target axis when the instrument axis is not aligned with the target axis;
establish a virtual boundary;
control the surgical device to apply a force to constrain the instrument axis within the virtual boundary; and
collapse the virtual boundary as the instrument axis is brought into alignment with the target axis.

13. The system of claim 12 , wherein the processor is configured to determine the current orientation angle of the instrument axis based on an orientation of the target axis by:
determining whether the instrument axis is coplanar with the target axis; and
if the instrument axis is coplanar with the target axis, measuring an orientation of the instrument axis relative to the target axis; and
if the instrument axis is not coplanar with the target axis:
identifying a line parallel with the target axis and coplanar to the instrument axis; and
measuring an orientation of the instrument axis relative to the identified line.

14. The system of claim 12 , wherein the virtual boundary defines a virtual volume and the processor is configured to:
detect a decrease in the current orientation angle of the instrument axis; and
reduce the virtual volume in response to a combination of a determination that a reference point of the instrument is within the virtual volume and the decrease in the current orientation angle of the instrument axis.

15. The system of claim 12 , wherein the processor is configured to:
detect a decrease in the current orientation angle of the instrument axis; and
in response to the decrease in the current orientation angle of the instrument axis, reduce a distance between the virtual boundary and the target axis.

16. The system of claim 15 , wherein the virtual boundary comprises a funnel shape and the processor is configured to reduce the distance of virtual boundary from the target axis by decreasing a base radius of the funnel shape.

17. The system of claim 15 , wherein the virtual boundary comprises a cone shape and the processor is configured to reduce the distance of the virtual boundary from the target axis by decreasing a boundary angle of the cone shape.

18. The system of claim 15 , comprising a tracking system configured to collect data indicative of a pose of the instrument and provide the data to the processor.

19. The system of claim 12 , wherein the processor is configured to:
detect a translation of the instrument axis towards the target axis; and
in response to the translation of the instrument axis towards the target axis, reduce a distance of the virtual boundary from the target axis.

20. The system of claim 12 , wherein the processor is further configured to:
determine whether a deviation of the instrument axis from the target axis is less than a threshold; and
in response to a determination that the deviation of the instrument axis from the target axis is less than the threshold; control the surgical device to apply a second force configured to urge the instrument axis toward the target axis.

Assignees

• Mako Surgical Corp

Inventors

• Iorgulescu Radu
• Moses Dennis

Classifications

• A61B34/30

  Surgical robots · CPC title

• A61B34/20 Primary

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

• A61B17/17

  Guides {or aligning means} for drills {, mills, pins or wires} · CPC title

• A61B34/76

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