Robotic surgical system with cut selection logic

Patent metadata

Field	Value
Publication number	US-12533805-B2
Application number	US-202117513436-A
Country	US
Kind code	B2
Filing date	Oct 28, 2021
Priority date	Oct 30, 2020
Publication date	Jan 27, 2026
Grant date	Jan 27, 2026

Abstract

A method of controlling a surgical system includes obtaining a surgical plan containing a plurality of planned cuts, receiving a first cutting tool from a plurality of cutting tools at a surgical device, collecting a first checkpoint by tracking a probe as the probe contacts a first predefined point on the first cutting tool, collecting a second checkpoint by tracking the probe as the probe contacts a second predefined point at a first bone of a patient, automatically selecting a first planned cut from the plurality of planned cuts based on the first checkpoint and the second checkpoint, and, in response to automatically selecting the first planned cut, guiding execution of the first planned cut using the first cutting tool.

First claim

What is claimed is:

1 . A method of controlling a surgical system, comprising:
obtaining a surgical plan comprising a plurality of planned cuts; receiving, at a surgical device, a first cutting tool selected from a plurality of cutting tools for use with the surgical device; subsequent to a registration workflow that registers a first bone of a patient relative to the surgical device:
collecting a first checkpoint by tracking a probe as the probe contacts a first predefined point on the first cutting tool;
collecting a second checkpoint by tracking the probe as the probe contacts a second predefined point at the first bone of the patient;
automatically selecting a first planned cut from the plurality of planned cuts by determining that the first checkpoint and the second checkpoint correspond to the first planned cut; and
in response to the automatically selecting of the first planned cut, guiding execution of the first planned cut using the first cutting tool.

2 . The method of claim 1 , further comprising:
automatically detecting completion of the first planned cut; and in response to the detecting of the completion of the first planned cut, automatically selecting a second planned cut from the plurality of planned cuts.

3 . The method of claim 1 , further comprising:
releasing the first cutting tool from the surgical device; receiving, at the surgical device, a second cutting tool from the plurality of cutting tools for use with the surgical device; collecting a third checkpoint by tracking the probe as the probe contacts a third predefined point on the second cutting tool; and automatically selecting a second planned cut from the plurality of planned cuts based on the second checkpoint and the third checkpoint.

4 . The method of claim 1 , further comprising:
releasing the first cutting tool from the surgical device, wherein the first cutting tool is a first sagittal saw blade; receiving, at the surgical device, a second sagittal saw blade from the plurality of cutting tools for use with the surgical device; collecting a third checkpoint by tracking the probe as the probe contacts a third predefined point on the second sagittal saw blade; collecting a fourth checkpoint by tracking the probe as the probe contacts a fourth predefined point at a second bone of the patient; and automatically selecting a second planned cut from the plurality of planned cuts based on the first planned cut, the third checkpoint, and the fourth checkpoint.

5 . The method of claim 1 , further comprising automatically switching from the first planned cut to a second planned cut from the plurality of planned cuts in response to detecting double-pressing of a trigger mechanism of the surgical device.

6 . The method of claim 1 , further comprising providing a graphical user interface comprising:
a representation of the first planned cut; and an indication of a position of a second planned cut of the plurality of planned cuts relative to the first planned cut.

7 . The method of claim 1 , wherein the determining that the first checkpoint and the second checkpoint correspond to the first planned cut comprises using stored associations between the plurality of planned cuts and different checkpoint combinations comprising different first checkpoints associated with different tools of the plurality of cutting tools and different second checkpoints associated with different bones.

8 . The method of claim 1 , wherein the determining that the first checkpoint and the second checkpoint correspond to the first planned cut comprises mapping, using a stored table, the first checkpoint and the second checkpoint to the first planned cut from the plurality of planned cuts.

9 . The method of claim 1 , wherein the first checkpoint is specific to the first cutting tool, and wherein the method comprises identifying which of the plurality of cutting tools is in use as the first cutting tool using the first checkpoint.

10 . The method of claim 9 , wherein the determining that the first checkpoint and the second checkpoint correspond to the first planned cut comprises determining that the first planned cut of the first bone is compatible with the first cutting tool.

11 . The method of claim 1 , wherein the method comprises identifying, using the second checkpoint, which of a plurality of bones of a joint is the first bone.

12 . A surgical system, comprising:
a surgical device; a first cutting tool selected from a plurality of cutting tools interchangeably attachable to the surgical device; a probe; a tracking system configured to collect tracking data indicating positions of the probe; and circuitry configured to:
receive the tracking data;
determine which of the plurality of cutting tools is selected as the first cutting tool using, from the tracking data, a first position of the probe relative to a connection end of the first cutting tool when the probe contacts a first predefined point on the first cutting tool;
automatically select a first planned cut from a plurality of planned cuts based on which of the plurality of cutting tools is the first cutting tool and using stored associations between the plurality of cutting tools and the plurality of planned cuts; and
guide execution of the first planned cut using the surgical device and the first cutting tool.

13 . The surgical system of claim 12 , wherein the circuitry is further configured to:
automatically detect completion of the first planned cut; and in response to the detecting of the completion of the first planned cut, automatically select a second planned cut from the plurality of planned cuts.

14 . The surgical system of claim 12 , wherein the circuitry is further configured to:
determine a second checkpoint based on a second position of the probe as the probe contacts a second predefined point at a first bone of a patient; determine a third checkpoint based on a third position of the probe as the probe contacts a third predefined point on a second cutting tool of the plurality of cutting tools; and select a second planned cut from the plurality of planned cuts based on the second checkpoint and the third checkpoint.

15 . The surgical system of claim 12 , wherein the surgical device is configured to:
release the first cutting tool, wherein the first cutting tool is a first sagittal saw blade; and receive a second sagittal saw blade from the plurality of cutting tools.

16 . The surgical system of claim 15 , wherein the circuitry is further configured to:
determine a second checkpoint based on a second position of the probe as the probe contacts a second predefined point at a first bone of a patient; determine a third checkpoint based on a third position of the probe as the probe contacts a third predefined point on the second sagittal saw blade; determine a fourth checkpoint based on a fourth position of the probe as the probe contacts a fourth predefined point at a second bone of the patient; and select a second planned cut from the plurality of planned cuts based on the first planned cut, the third checkpoint, and the fourth checkpoint.

17 . The surgical system of claim 12 , wherein the surgical device comprises a trigger mechanism, and is configured to automatically switch from the first planned cut to a second planned cut from the plurality of planned cuts in response to the trigger mechanism being double-pressed.

18 . The surgical system of claim 12 , further comprising a graphical user interface configured to:
display a representation of the

Assignees

• Mako Surgical Corp

Inventors

• Abbasi Abdullah
• Perez Daniel
• Otto Jason

Classifications

• A61B2034/252

  indicating steps of a surgical procedure · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• G16H40/67

  for remote operation · CPC title

• G16H20/40

  relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture · CPC title