Method to determine bone placement in a robot workspace

Patent metadata

Field	Value
Publication number	US-11986246-B2
Application number	US-202016911709-A
Country	US
Kind code	B2
Filing date	Jun 25, 2020
Priority date	Jun 25, 2019
Publication date	May 21, 2024
Grant date	May 21, 2024

Abstract

A method and system are provided to determine an optimal placement with respect to position and orientation for one or more bones in a workspace of a robot to improve robotic cutting and maximize the robot workspace during a robotic surgical procedure. The method is additionally useful to aid a user in positioning and orienting the bones in the operating room at the determined position and orientation.

First claim

The invention claimed is:

1. A method for determining a location for one or more bones in a workspace of a robot comprising an end-effector, the method executed on a computing system comprising one or more processors and executing software comprising a kinematic model of the robot and a cut-file, the method comprising:
simulating robotic movements of a virtual end-effector during robot execution of the cut-file at a first virtual bone location within a virtual workspace of the robot;
simulating robotic movements of the virtual end-effector during robot execution of the cut-file for at least a second virtual bone location within the virtual workspace of the robot,
simulating robotic movements of the virtual end-effector during robot execution of a second cut-file for a third virtual bone location within the workspace of the robot;
simulating robotic movements of the virtual end-effector during robot execution of the second cut-file for at least a fourth virtual bone location within the workspace of the robot, wherein the movements are simulated with simulation software using the kinematic model of the robot;
determining, for each virtual bone location, if the simulated robotic movements of the virtual end-effector during robot execution of the cut-file or the second cut-file meets predetermined criteria;
identifying at least one optimal virtual bone location based on a comparison of the predetermined criteria that was met for one virtual bone location compared to at least one other virtual bone location; and
providing feedback in the operating room for positioning the one or more bones in the workspace of the robot at a location corresponding to at least one optimal virtual bone location.

2. The method of claim 1 wherein the simulating, repeating, and determining steps are executed on a computer comprising a processor, simulation software, and a data storage component storing a kinematic model of the robot.

3. The method of claim 1 further comprising repeating the simulation for a first plurality of cut-file orientations at the first location.

4. The method of claim 3 further comprising repeating the simulation for a second plurality of cut-file orientations at the second location.

5. The method of claim 1 where the predetermined criteria comprises at least one of: (i) the end-effector reaching points defined in the cut-file; (ii) the end-effector reaching boundaries defined in the cut-file; (iii) joint positions of the robot are within operating range; or (iv) velocity limits of the robot are within operating range.

6. The method of claim 1 wherein the predetermined criteria comprises the end-effector reaching all points defined in the cut-file or all boundaries defined in the cut-file.

7. The method of claim 1 wherein the cut-file is generated based on at least one of: (i) a geometry of an implant; (ii) a geometry of the one or more bones; (iii) a planned position for the implant relative to the one or more bones; or (iv) a combination thereof.

8. The method of claim 1 wherein a bone model of the one or more bones is associated with the cut-file, wherein the cut-file is positioned at a predetermined location relative to the bone model.

9. The method of claim 8 wherein the predetermined location corresponds to a planned location for an implant with respect to the one or more bones.

10. The method of claim 1 further comprising saving at least one cut-file location that meets the predetermined criteria for positioning the one or more bones in an operating room.

11. The method of claim 10 , wherein a bone model of the one more bones is associated with the cut-file, wherein the cut-file is positioned at predetermined location relative to the bone model, and wherein the method further comprises displaying, on a graphical user interface, the bone model at a saved cut-file location relative to a representation of at least one of the robot or a workspace of the robot.

12. The method of claim 1 further comprising repeating the simulation for three or more locations of the cut-file, and for each location repeating the simulation for a plurality of cut-file orientations.

13. The method of claim 12 further comprising generating a workspace map based on data acquired from the simulations.

14. The method of claim 13 wherein the workspace map comprises a plurality of data points, wherein each data point corresponds to a cut-file location within the workspace, and wherein the data in each data point comprises information related to a cut-file location or a cut-file orientation meeting the predetermined criteria.

15. The method of claim 1 wherein a first bone model of a first bone from the one or more bones is associated with the cut-file and a second bone model of a second bone from the one or more bones is associated with the second cut-file, wherein the first bone and second bone form a joint.

16. The method of claim 15 wherein the first bone is a femur and the second bone is a tibia.

17. The method of claim 15 further comprising:
repeating the simulation of the cut-file for a first plurality of cut-file orientations at the first location; and
repeating the simulation of the second cut-file for a second plurality of cut-file orientations at the third location;
wherein the first plurality of cut-file orientations with respect to the second plurality of cut-file orientations correspond to a range-of-motion of the joint.

18. The method of claim 1 wherein the at least one optimal virtual bone location is a virtual bone location having more predetermined criteria met compared to another virtual bone location.

19. The method of claim 1 further comprising positioning in an operating room prior to surgery the one or more bones in the workspace of the robot according to the at least one optimal virtual bone location and based on the simulation using the kinematic model.

Assignees

• Think Surgical Inc

Inventors

• Roldan Jay
• Jung Min Yang
• Shen Feimo
• Afnan Muhammad
• Voorhees Barry
• Forstein Micah
• Geering Cj
• Ruvva Koteswara
• Zuhars Joel

Classifications

• A61B34/10 Primary

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

• A61B17/1626

  Control means; Display units · CPC title

• A61B17/1675

  for the knee · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title

• A61B34/74

  Manipulators with manual electric input means · CPC title