Force measuring joint distraction lever

Patent metadata

Field	Value
Publication number	US-12121230-B2
Application number	US-202318137546-A
Country	US
Kind code	B2
Filing date	Apr 21, 2023
Priority date	May 28, 2014
Publication date	Oct 22, 2024
Grant date	Oct 22, 2024

Abstract

A joint distraction lever, comprising a lever body comprising a handle portion and a working portion, a distal tip coupled to the working portion, and a fulcrum extending from a bottom surface of the working portion and spaced apart from the distal tip such that the fulcrum is positioned between the distal tip and the handle portion, where the joint distraction lever is configured to determine a distraction force based on deformation of the joint distraction lever.

First claim

What is claimed is:

1. A surgical system, comprising:
a robot;
a joint distraction lever configured to be inserted into a joint of a patient and to determine a distraction force based on deformation of the joint distraction lever;
a tracking system configured to track poses of a first bone and a second bone of the joint and the joint distraction lever while the joint distraction lever is inserted into the joint and distracting the joint; and
a computing system programmed to:
determine a directional component of the distraction force based on the poses of the joint and the joint distraction lever; and
cause automatic adjustment of application of the distraction force with the joint distraction lever based on the directional component.

2. The surgical system of claim 1 , wherein the automatic adjustment reduces an amount of the distraction force which is directed off of an intended axis for the distraction force.

3. The surgical system of claim 1 , wherein the direction component points in a direction lateral to a distraction of the joint.

4. A surgical system, comprising:
a robot;
a joint distraction lever configured to be inserted in a joint of a patient, comprising:
a lever body comprising a working portion;
a distal tip coupled to the working portion; and
a fulcrum extending from a bottom surface of the working portion and spaced apart from the distal tip;
wherein the joint distraction lever is configured to determine a distraction force based on deformation of the joint distraction lever;

a tracking system configured to provide tracking information indicating relative poses of the distraction lever while the joint distraction lever is inserted into the joint and distracting the joint, a first bone of a joint distracted by the distraction lever, and a second bone of the joint distracted by the distraction lever; and
a computing system comprising non-transitory memory and a processor, the non-transitory memory storing programming executable by the processor to perform operations comprising:
determining a directional component of the distraction force; and
causing automatic adjustment of application of the distraction force with the joint distraction lever based on the directional component.

5. The surgical system of claim 4 , wherein the fulcrum is configured to be inserted into a space between the first bone and the second bone.

6. The surgical system of claim 5 , wherein the distal tip is configured to be inserted into the space between the first bone and the second bone so that the distraction force can be exerted between the distal tip on the first bone and the fulcrum on the second bone.

7. The surgical system of claim 4 , the lever body further comprising a handle portion configured to receive an external force to cause a torque on the joint distraction lever.

8. The surgical system of claim 7 , wherein, responsive to the torque on the joint distraction lever, the distal tip is configured to push on a first bone and the fulcrum is configured to push on a second bone causing the deformation of the joint distraction lever.

9. The surgical system of claim 4 , further comprising an indicator configured to provide feedback demonstrating the distraction force applied at the distal tip.

10. The surgical system of claim 9 , wherein the feedback indicates a current value of the distraction force has reached a predetermined value.

11. The surgical system of claim 9 , wherein the indicator is configured to provide visual feedback relating to the distraction force.

12. The surgical system of claim 11 , wherein the indicator is configured to change from a first state to a second state to indicate a current value of the distraction force has reached a predetermined value.

13. The surgical system of claim 12 , wherein the indicator is configured to provide a first indication when the distraction force exceeds a first predetermined value and a second indication when the distraction force exceeds a second predetermined threshold.

14. The surgical system of claim 4 , wherein the fulcrum is movable relative to the working portion to vary a distance between the fulcrum and the distal tip.

15. The surgical system of claim 4 , the joint distraction lever comprising a force measurement device configured to measure the distraction force, wherein the force measurement device is at least one of a strain gauge, a piezoelectric pressure sensor, a magnetic contact switch, and an optical sensor comprising an array of optical fibers.

16. The surgical system of claim 4 , wherein the directional component of the distraction force points along a mechanical axis of the joint.

17. The surgical system of claim 16 , wherein the computing system is configured to receive, from the tracking system, the position information while the joint distraction lever is used to distract the joint.

18. The surgical system of claim 17 , wherein the directional component of the distraction force points in a direction lateral to a distraction of the joint.

19. The surgical system of claim 4 , wherein responsive to an indicator providing feedback indicating a current value of the distraction force has reached a predetermined value, the tracking system is configured to capture a pose of the bone of the joint.

20. The surgical system of claim 19 , wherein responsive to moving the first bone of the joint to a second position, the tracking system is configured to capture a second pose of the first bone of the joint in the second position.

Assignees

• Mako Surgical Corp

Inventors

• Bechtold Kevin
• Otto Jason
• Kang Hyosig
• Iorgulescu Radu

Classifications

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B34/20

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

• A61B2017/00115

  with audible or visual output · CPC title

• A61B2017/0268

  for the knee · CPC title

• A61B17/16

  Instruments for performing osteoclasis; Drills or chisels for bones; Trepans {(arthroscopic bone cutters A61B17/320016)} · CPC title