Robotic system for ankle arthroplasty

Patent metadata

Field	Value
Publication number	US-11684489-B2
Application number	US-201916665487-A
Country	US
Kind code	B2
Filing date	Oct 28, 2019
Priority date	Oct 29, 2018
Publication date	Jun 27, 2023
Grant date	Jun 27, 2023

Abstract

Robotic system and methods for robotic arthroplasty are provided. The robotic system includes a machining system and a guidance system. The guidance station tracks movement of one or more of various objects in the operating room, such as a surgical tool, a tibia of a patient, a talus of the patient, or a component of an implant. The guidance system tracks these objects for purposes of displaying their relative positions and orientations to the surgeon and, in some cases, for purposes of controlling movement of the surgical tool of the machining system relative to virtual cutting boundaries or other virtual objects associated with the tibia and talus to facilitate preparation of bone to receive an ankle implant system.

First claim

What is claimed is:

1. A method for verifying a talar implant placement on a talus, the talar implant having a known geometry, the method comprising:
providing a localizer for tracking one or more objects in a coordinate system:
registering the talus for tracking in the coordinate system with a computer surgical system using the localizer;
placing the talar implant on the talus;
registering the talar implant for tracking in the coordinate system with the computer surgical system using the localizer; and
determining the talar implant placement on the talus with the computer surgical system by comparing locations in the coordinate system of the registered talus and the registered talar implant determined with the localizer relative to a predetermined surgical plan for seating the talar implant to the talus.

2. The method of claim 1 , further comprising the step of resecting the talus to form a pyramidal frustum.

3. The method of claim 1 , further comprising the step of providing guidance on a display when the step of determining the talar implant placement determines that the talar implant is misplaced on the talus, wherein the step of providing guidance includes visualizing the placement of the talar implant on the talus to display a misplacement of the talar implant on the talus.

4. The method of claim 3 , wherein determining the talar implant placement on the talus is computed as an offset of a talar implant surface from a talus surface, based on the known geometry of the talar implant; and wherein the step of providing guidance is performed when the talar implant is offset from the talus by greater than a thickness of the talar implant.

5. The method of claim 3 , wherein visualizing the placement of the talar implant on the talus displays an actual location of the talar implant and displays a desired location of the talar implant, and further comprises highlighting a region of misalignment between the actual location of the talar implant and the desired location of the talar implant.

6. The method of claim 1 , wherein registering the talus includes registering a plurality of talus points on a resected surface of the talus, and wherein registering the talus occurs before placement of the talar implant.

7. The method of claim 1 , further comprising, prior to registering the talus, preoperatively imaging the talus; generating a virtual model of the talus based on the preoperative imaging; and placing a tracker on the talus.

8. The method of claim 1 , wherein registering the talus is performed by one or more of: placing a pointer in contact with the talus, the pointer having a tracker; placing a probe in contact with the talus, the probe coupled to a robotic arm, wherein the robotic arm includes one or more joint encoders; and intraoperatively imaging the talus.

9. The method of claim 1 , wherein registering the talar implant is performed by one or more of: placing a pointer in contact with the talar implant, the pointer having a tracker; and placing a probe on an implant surface, the probe coupled to a robotic arm, wherein the robotic arm includes one or more joint encoders.

10. The method of claim 9 , wherein the probe comprises one or more of: a complementary curvature to the talar implant to define a position and orientation of the talar implant when the probe is abutted to the implant surface with the complementary curvatures are aligned; and an adapter having a groove, the talar implant having a ridge, the groove adapted to receive the ridge so that when the probe is brought into contact with the talar implant, the probe is adapted to travel along the ridge.

11. The method of claim 1 , further comprising intraoperatively imaging the talar implant.

12. The method of claim 1 , further comprising the step of providing guidance on a display when the step of determining the talar implant placement determines that the talar implant is misplaced on the talus, wherein the step of providing guidance includes visualizing, on the display, a location on the talar implant to impact in order to correct the misplacement of the talar implant on the talus.

13. The method of claim 1 , further comprising the step of providing guidance on a display when the step of determining the talar implant placement determines that the talar implant is misplaced on the talus, wherein the step of providing guidance includes visualizing, on the display, a volume of material to be removed from the talus to correct the misplacement of the talar implant on the talus.

14. The method of claim 1 , further comprising the step of providing guidance on a display when the step of determining the talar implant placement determines that the talar implant is misplaced on the talus, wherein the step of providing guidance includes indicating a different sized talar implant to correct the misplacement.

15. The method of claim 1 , wherein registering the talus includes registering a plurality of talus points on a resected surface of the talus using a pointer having a tracker, the localizer being configured to track the tracker of the pointer in the coordinate system.

16. The method of claim 1 , further comprising, prior to registering the talus, placing a tracker on the talus, the localizer being configured to track the tracker of the talus in the coordinate system.

17. The method of claim 1 , wherein registering the talus includes placing a pointer having a tracker in contact with the talus, the localizer being configured to track the tracker of the pointer in the coordinate system.

18. The method of claim 1 , wherein registering the talar implant placing a pointer having a tracker in contact with the talar implant, the localizer being configured to track the tracker of the pointer in the coordinate system.

19. A method for verifying a talar implant placement on a talus, the talar implant having a known geometry, the method comprising:
providing a localizer for tracking one or more objects in a coordinate system;
registering the talus for tracking in the coordinate system with a computer surgical system using the localizer;
placing the talar implant on the talus;
registering the talar implant for tracking in the coordinate system with the computer surgical system using the localizer;
determining the talar implant placement on the talus with the computer surgical system by comparing locations in the coordinate system of the registered talus and the registered talar implant determined with the localizer relative to a predetermined surgical plan for seating the talar implant to the talus; and
providing guidance on a display when the step of determining the talar implant placement determines that the talar implant is misplaced on the talus, wherein the step of providing guidance includes one or more of: visualizing the placement of the talar implant on the talus to display a misplacement of the talar implant on the talus, and indicating a different sized talar implant to correct the misplacement.

20. A method for verifying a talar implant placement on a talus, the talar implant having a known geometry, the method comprising:
generating a preoperative image of the talus;
providing a localizer for tracking one or more objects in a coordinate system;
generating a virtual model of the talus with a computer surgical system based on the preoperative image of the talus;
placing a tracker on the talus, the localizer being configured to track the tracker of the talus in the coordinate system;
registering the talus for tracking in the coordinate system with the computer s

Assignees

• Mako Surgical Corp

Inventors

• Singh Manoj Kumar
• Crozet Yves
• Greenberg Daniel

Classifications

• A61B34/32

  operating autonomously · CPC title

• A61B2034/2068

  using pointers, e.g. pointers having reference marks for determining coordinates of body points · CPC title

• A61B2034/252

  indicating steps of a surgical procedure · CPC title

• A61B2034/2057

  Details of tracking cameras · CPC title

• A61F2/4606 Primary

  of wrists or ankles; of hands, e.g. fingers; of feet, e.g. toes · CPC title