Surgical system with automated alignment

Patent metadata

Field	Value
Publication number	US-11857201-B2
Application number	US-202217666779-A
Country	US
Kind code	B2
Filing date	Feb 8, 2022
Priority date	Dec 21, 2012
Publication date	Jan 2, 2024
Grant date	Jan 2, 2024

Abstract

A system includes a surgical tool, a robot holding the surgical tool, and non-transitory computer-readable memory storing instructions that, when executed, cause the robot to perform operations including automatically moving the surgical tool to a virtual geometry correlated with an anatomical structure and forcing, following arrival of the surgical tool at the virtual geometry, the surgical tool to stay at the virtual geometry while allowing manual repositioning of the surgical tool along the virtual geometry.

First claim

What is claimed is:

1. A surgical system, comprising:
a tool;
a robotic device configured to be coupled to the tool; and
a controller comprising a processor and non-transitory computer-readable memory storing instructions that, when executed, cause the processor to perform operations comprising:
controlling the robotic device in a first mode that provides automatic movement of the tool to a virtual plane correlated with an anatomical structure from a starting position away from the virtual plane; and
switching, based on arrival of the tool at the virtual plane via the automatic movement, from the first mode to a second mode;
controlling, in the second mode, the robotic device to force the tool to stay at the virtual plane while allowing manual repositioning of the tool along the virtual plane.

2. The surgical system of claim 1 , wherein the virtual plane is offset from a planned resection.

3. The surgical system of claim 2 , wherein the virtual plane is offset from the planned resection by an amount based on a size of a blade.

4. The surgical system of claim 1 , further comprising a sensor configured to sense a presence of a user.

5. The surgical system of claim 4 , wherein controlling the robotic device in the first mode comprises enabling the automatic movement when the sensor is sensing the presence of the user.

6. The surgical system of claim 4 , wherein controlling the robotic device in the first mode comprises disabling the automatic movement when the sensor is not sensing the presence of the user.

7. The surgical system of claim 1 , wherein:
the robotic device extends from a base of the robotic device to a distal end of the robotic device; and
the surgical system further comprising a tracking system configured to track the distal end of the robotic device and the base of the robotic device.

8. The surgical system of claim 1 , further comprising a saw separate from the tool.

9. The surgical system of claim 8 , wherein the saw is a sagittal saw configured to execute a bone resection.

10. The surgical system of claim 1 , further comprising a burr separate from the tool.

11. The surgical system of claim 1 , wherein the operations further comprise defining the virtual plane based on an implant plan.

12. A system, comprising:
a surgical tool;
a robot holding the surgical tool; and
non-transitory computer-readable memory storing instructions that, when executed in communication with the robot, cause the robot to perform operations comprising:
automatically moving, in a first mode, the surgical tool to a virtual geometry correlated with an anatomical structure from a starting position away from the virtual geometry;
switching from the first mode to a second mode based on arrival of the surgical tool at the virtual geometry; and
forcing, in the second mode following arrival of the surgical tool at the virtual geometry, the surgical tool to stay at the virtual geometry while allowing manual repositioning of the surgical tool along the virtual geometry.

13. The system of claim 12 , wherein the virtual geometry is a line.

14. The system of claim 12 , wherein the virtual geometry is a plane.

15. The system of claim 12 , wherein the virtual geometry is offset from a planned resection.

16. The system of claim 15 , wherein the virtual geometry is offset from the planned resection by an amount based on a size of a blade.

17. The system of claim 12 , further comprising a saw separate from the surgical tool.

18. The system of claim 12 , further comprising a burr separate from the surgical tool.

19. A method, comprising:
providing a surgical tool and a robotic device holding the surgical tool;
creating, by the robotic device in a first mode, automatic movement of the surgical tool to a virtual plane correlated with an anatomical structure from a starting position away from the virtual plane;
switching from the first mode to a second mode based on arrival of the surgical tool at the virtual plane via the automatic movement; and
forcing, by the robotic device in the second mode, the surgical tool to stay at the virtual plane while allowing manual repositioning of the surgical tool along the virtual plane.

20. The method of claim 19 , further comprising defining the virtual plane to have an offset from a planned resection based on a dimension of a saw or a burr.

Assignees

• Mako Surgical Corp

Inventors

• Otto Jason
• Iorgulescu Radu
• Lightcap Chris
• Schmitz Brian
• Wojcik Jason
• Granchi Carinne Cecile

Classifications

• A61B17/15 Primary

  Guides therefor · CPC title

• A61B17/142

  with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades · CPC title

• A61B17/1615

  Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material · CPC title

• A61B17/1703

  using imaging means, e.g. by X-rays · CPC title

• A61B34/20

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