System and method for manipulating an anatomy

Patent metadata

Field	Value
Publication number	US-11723732-B2
Application number	US-202117365280-A
Country	US
Kind code	B2
Filing date	Jul 1, 2021
Priority date	May 19, 2015
Publication date	Aug 15, 2023
Grant date	Aug 15, 2023

Abstract

A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the second portion of the anatomy.

First claim

The invention claimed is:

1. A surgical system for manipulating an anatomy, the surgical system comprising:
a surgical tool;
a robotic manipulator configured to support and move the surgical tool; and
one or more controllers configured to:
activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool;
control the robotic manipulator to enable the surgical tool to bulk cut the first portion in relation to the first virtual boundary; and
control the robotic manipulator to enable the surgical tool to fine cut the second portion of the anatomy.

2. The surgical system of claim 1 , wherein the one or more controllers are configured to:
activate a second virtual boundary delineating the second portion of the anatomy that is allowed to be removed by the surgical tool from a third portion of the anatomy that is protected from removal by the surgical tool; and
control the robotic manipulator to enable the surgical tool to fine cut the second portion in relation to the second virtual boundary.

3. The surgical system of claim 2 , wherein the one or more controllers are configured to control the robotic manipulator in a manual mode to enable the surgical tool to fine cut the second portion in relation to the second virtual boundary.

4. The surgical system of claim 2 , wherein:
the second virtual boundary corresponds to a target surface of the anatomy; and
the first virtual boundary is spaced from the target surface.

5. The surgical system of claim 2 , wherein the one or more controllers are configured to:
control the robotic manipulator in a manual mode to enable the surgical tool to bulk cut the first portion in relation to the first virtual boundary;
change operation of the robotic manipulator from the manual mode to an autonomous mode; and
control the robotic manipulator in the autonomous mode to enable the surgical tool to fine cut the second portion in relation to the second virtual boundary.

6. The surgical system of claim 5 , wherein the one or more controllers are configured to activate the first virtual boundary in the manual mode.

7. The surgical system of claim 5 , wherein the one or more controllers are configured to deactivate the first virtual boundary in response to changing to the autonomous mode.

8. The surgical system of claim 5 , wherein the one or more controllers are configured to activate the second virtual boundary in response to changing to the autonomous mode.

9. The surgical system of claim 5 , wherein the one or more controllers are configured to change operation of the robotic manipulator from the manual mode to the autonomous mode in response to manual input.

10. The surgical system of claim 5 , wherein the one or more controllers are configured to automatically change operation of the robotic manipulator from the manual mode to the autonomous mode in response to a determination related to an amount of anatomy removed by the surgical tool from bulk cutting the first portion in the manual mode.

11. The surgical system of claim 1 , wherein the one or more controllers are configured to:
generate a first tool path for the surgical tool to bulk cut the first portion, the first tool path defining a first frequency of path oscillations;
generate a second tool path for the surgical tool to fine cut the second portion, the second tool path defining a second frequency of path oscillations; and
wherein the second frequency of path oscillations is greater than the first frequency of path oscillations.

12. The surgical system of claim 1 , wherein the one or more controllers are configured to:
control the robotic manipulator to move the surgical tool according to a first feed rate to bulk cut;
control the robotic manipulator to move the surgical tool according to a second feed rate to fine cut; and
wherein the first feed rate is faster than the second feed rate.

13. A method of operating a surgical system for manipulating an anatomy, the surgical system comprising a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers, the method comprising the one or more controllers:
activating a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool;
controlling the robotic manipulator for enabling the surgical tool to perform bulk cutting of the first portion in relation to the first virtual boundary; and
controlling the robotic manipulator for enabling the surgical tool to perform fine cutting of the second portion of the anatomy.

14. The method of claim 13 , comprising the one or more controllers:
activating a second virtual boundary delineating the second portion of the anatomy that is allowed to be removed by the surgical tool from a third portion of the anatomy that is protected from removal by the surgical tool; and
controlling the robotic manipulator for enabling the surgical tool to perform fine cutting of the second portion in relation to the second virtual boundary.

15. The method of claim 14 , comprising the one or more controllers controlling the robotic manipulator in a manual mode for enabling the surgical tool to perform fine cutting of the second portion in relation to the second virtual boundary.

16. The method of claim 14 , comprising the one or more controllers:
controlling the robotic manipulator in a manual mode for enabling the surgical tool to perform bulk cutting of the first portion in relation to the first virtual boundary;
changing operation of the robotic manipulator from the manual mode to an autonomous mode; and
controlling the robotic manipulator in the autonomous mode for enabling the surgical tool to perform fine cutting of the second portion in relation to the second virtual boundary.

17. The method of claim 16 , comprising, in response to changing to the autonomous mode, the one or more controllers:
deactivating the first virtual boundary; and
activating the second virtual boundary.

18. The method of claim 16 , comprising the one or more controllers automatically changing operation of the robotic manipulator from the manual mode to the autonomous mode in response to determining an amount of anatomy removed by the surgical tool performing bulk cutting of the first portion in the manual mode.

19. The method of claim 13 , comprising the one or more controllers:
generating a first tool path for the surgical tool to perform bulk cutting of the first portion, the first tool path defining a first frequency of path oscillations;
generating a second tool path for the surgical tool to perform fine cutting of the second portion, the second tool path defining a second frequency of path oscillations; and
wherein the second frequency of path oscillations is greater than the first frequency of path oscillations.

20. The method of claim 13 , comprising the one or more controllers:
controlling the robotic manipulator to move the surgical tool according to a first feed rate to perform bulk cutting;
controlling the robotic manipulator to move the surgical tool according to a second feed rate to perform fine cutting; and
wherein the first feed rate is faster than the second feed rate.

Assignees

• Mako Surgical Corp

Inventors

• Bowling David Gene
• Stuart John Michael
• Culp Jerry A
• Malackowski Donald W
• Moctezuma De La Barrera José Luis
• Roessler Patrick
• Beer Joel N

Classifications

• A61B17/32

  Surgical cutting instruments ({A61B18/042 takes precedence; suture cutters A61B17/0467;} implements for ligaturing and cutting {A61B17/122, A61B17/12; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133}) · CPC title

• A61B34/74

  Manipulators with manual electric input means · CPC title

• A61B34/10

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2090/3937

  Visible markers · CPC title