Systems and methods for selectively activating virtual guide geometries

Patent metadata

Field	Value
Publication number	US-11723740-B2
Application number	US-202217591254-A
Country	US
Kind code	B2
Filing date	Feb 2, 2022
Priority date	Dec 29, 2011
Publication date	Aug 15, 2023
Grant date	Aug 15, 2023

Abstract

A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.

First claim

What is claimed is:

1. A system, comprising:
a robotic device;
a surgical tool coupled to the robotic device; and
circuitry communicable with the robotic device and configured to:
compare a position of the surgical tool with a first engagement region associated with a first surgical task and a second engagement region associated with a second surgical task, the first engagement region distinct from a first haptic object used for the first surgical task and the second engagement region distinct from a second haptic object used for the second surgical task;
based on a determination that the surgical tool is positioned at the first engagement region and positioned outside the second engagement region, activate first guidance associated with the first surgical task and not activate second guidance associated with the second surgical task; and
provide the first guidance by controlling the robotic device based on the first haptic object.

2. The system of claim 1 , further comprising a monitor, wherein the circuitry is configured to cause the monitor to display the position of the surgical tool relative to a plurality of bones.

3. The system of claim 2 , wherein the first engagement region and the second engagement region are defined relative to the plurality of bones.

4. The system of claim 1 , wherein the first surgical task is a first bone resection and the second surgical task is a second bone resection, the first guidance is based on the first haptic object, the first haptic object is associated with the first bone resection, the second guidance is based on the second virtual object associated with the second bone resection.

5. The system of claim 1 , wherein the first guidance guides the surgical tool into alignment with a first target axis and the second guidance guides the surgical tool into alignment with a second target axis.

6. The system of claim 1 , wherein the first engagement region is defined based on a threshold distance from a first target axis associated with the first surgical task.

7. The system of claim 6 , wherein the second engagement region is defined based on the threshold distance from a second target axis associated with the second surgical task.

8. The system of claim 1 , wherein the circuitry is configured to activate the first guidance further based on user input confirming selection of the first surgical task while the surgical tool is positioned at the first engagement region.

9. The system of claim 1 , wherein the circuitry is further configured to prevent activation of the first guidance based one or more additional criteria, the one or more additional criteria different than the determination that the surgical tool is positioned at the first engagement region.

10. One or more non-transitory computer-readable media storing program instructions that, when executed by a processor, cause the processor to perform tasks comprising:
comparing a position of a surgical tool with a first engagement region associated with a first surgical task and a second engagement region associated with a second surgical task, wherein the first engagement region is distinct from a first haptic object associated with the first surgical task and the second engagement region is distinct from a second haptic object associated with the second surgical task;
based on a determination that the surgical tool is positioned at the first engagement region and positioned outside the second engagement region, activating first guidance associated with the first surgical task without activating second guidance associated with the second surgical task; and
providing the first guidance using the first haptic object without using the second haptic object.

11. The one or more non-transitory computer-readable media of claim 10 , wherein the operations further comprise causing a monitor to display the position of the surgical tool relative to a plurality of bones.

12. The one or more non-transitory computer-readable media of claim 11 , wherein the first engagement region and the second engagement region are defined relative to the plurality of bones.

13. The one or more non-transitory computer-readable media of claim 10 , wherein the first surgical task is a first bone resection and the second surgical task is a second bone resection, the first guidance is based on a first virtual object associated with the first bone resection, the second guidance is based on a second virtual object associated with the second bone resection, and the first virtual object intersects the second virtual object.

14. The one or more non-transitory computer-readable media of claim 10 , wherein the first engagement region is defined based on a threshold distance from a first target axis associated with the first surgical task.

15. The one or more non-transitory computer-readable media of claim 14 , wherein the first guidance guides the surgical tool into alignment with the first target axis.

16. A method, comprising:
providing a first virtual region associated with a first surgical task and a second virtual region associated with a second surgical task, the first virtual region overlapping the second virtual region at an overlapping region;
receiving a user input selecting the first virtual region and not selecting the second virtual region;
in response to the user input, activating first guidance associated with the first surgical task and not activating second guidance associated with the second surgical task; and
providing the first guidance by controlling a robotic device based on the first virtual region, wherein activating the first guidance and not activating the second guidance prevents the second guidance from interfering with the first guidance at the overlapping region.

17. The method of claim 16 , further comprising causing a monitor to display the first virtual region and the second virtual region.

18. The method of claim 17 , further comprising causing the monitor to display the first virtual region and the second virtual region relative to a bone.

19. The method of claim 16 , wherein the first surgical task is a first bone resection and the second surgical task is a second bone resection.

20. The method of claim 16 , wherein providing the first guidance comprises providing force feedback guiding the surgical tool into alignment with a target axis.

Assignees

• Mako Surgical Corp

Inventors

• Iorgulescu Radu
• Granchi Carinne Cecile
• Moses Dennis
• Wojcik Jason Robert

Classifications

• A61B34/76 Primary

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

• A61B34/20

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

• A61B34/25

  User interfaces for surgical systems · CPC title

• A61B34/30

  Surgical robots · CPC title

• G06F3/016

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title