Systems and methods for selectively activating virtual guide geometries

Patent metadata

Field	Value
Publication number	US-2023285101-A1
Application number	US-202318198424-A
Country	US
Kind code	A1
Filing date	May 17, 2023
Priority date	Dec 29, 2011
Publication date	Sep 14, 2023
Grant date	—

Abstract

A surgical guidance system for use with a robotic device configured to support and move a surgical tool includes a tracking system configured to track the surgical tool and at least one bone, a display device, and a control system coupled to the tracking system and the display device. The control system is configured to register a plurality of target trajectories to the at least one bone, determine a distance between the surgical tool and each target trajectory, automatically identify which one of the target trajectories is closest to and within a threshold distance of the surgical tool, and display, on the display device, the identified target trajectory relative to the at least one bone and a tracked pose of the surgical tool relative to the identified target trajectory.

First claim

What is claimed is:

1 . A surgical guidance system for use with a robotic device configured to support and move a surgical tool, the surgical guidance system comprising:
a tracking system configured to track the surgical tool and at least one bone; a display device; and a control system coupled to the tracking system and the display device and configured to:
register a plurality of target trajectories to the at least one bone;
determine a distance between the surgical tool and each target trajectory;
automatically identify which one of the target trajectories is closest to and within a threshold distance of the surgical tool; and
display, on the display device, the identified target trajectory relative to the at least one bone and a tracked pose of the surgical tool relative to the identified target trajectory.

2 . The surgical guidance system of claim 1 , wherein the control system is further configured to associate a virtual haptic object with each target trajectory.

3 . The surgical guidance system of claim 2 , wherein the control system is further configured to automatically and selectively activate the virtual haptic object associated with the identified target trajectory.

4 . The surgical guidance system of claim 3 , wherein the control system is further configured to deactivate the virtual haptic object associated with any target trajectory that is not the identified target trajectory.

5 . The surgical guidance system of claim 2 , wherein the control system is further configured to define each virtual haptic object as a line haptic object aligned with each respective target trajectory.

6 . The surgical guidance system of claim 5 , wherein the control system is further configured to define cylindrically shaped haptic objects associated with the line haptic objects.

7 . The surgical guidance system of claim 1 , wherein the identified target trajectory is a first target trajectory, and wherein the control system is further configured to
detect, from the tracking system, movement of the surgical tool away from the first target trajectory; automatically identify a second target trajectory that is closest to and within the threshold distance of the surgical tool; and display, on the display device, the identified second target trajectory relative to the at least one bone and the tracked pose of the surgical tool relative to the identified second target trajectory.

8 . A method of operating a surgical guidance system for use with a robotic device configured to support and move a surgical tool, the surgical guidance system comprising a tracking system configured to track the surgical tool and at least one bone, a display device, and a control system, the method comprising the control system performing the following.
registering a plurality of target trajectories to the at least one bone; determining a distance between the surgical tool and each target trajectory; automatically identifying which one of the target trajectories is closest to and within a threshold distance of the surgical tool, and displaying, on the display device, the identified target trajectory relative to the at least one bone and a tracked pose of the surgical tool relative to the identified target trajectory.

9 . The method of claim 8 , further comprising the control system associating virtual haptic objects with the target trajectories.

10 . The method of claim 9 , further comprising the control system automatically and selectively activating the virtual haptic object associated with the identified target trajectory.

11 . The method of claim 10 , further comprising the control system deactivating the virtual haptic object associated with any target trajectory that is not the identified target trajectory.

12 . The method of claim 9 , further comprising the control system defining the virtual haptic objects as line haptic objects aligned with the target trajectories.

13 . The method of claim 1 2, further comprising the control system defining cylindrically shaped haptic objects associated with the line haptic objects.

14 . The method of claim 8 , wherein the identified target trajectory is a first target trajectory, and further comprising the control system:
detecting, from the tracking system, movement of the surgical tool away from the first target trajectory; automatically identifying a second target trajectory that is closest to and within the threshold distance of the surgical tool; and displaying, on the display device, the identified second target trajectory relative to the at least one bone and the tracked pose of the surgical tool relative to the identified second target trajectory.

15 . A surgical system comprising:
a robotic device configured to support and move a surgical tool; a tracking system configured to track the surgical tool and at least one bone; a display device; and a control system configured to:
register a plurality of target trajectories to the at least one bone;
control the robotic device to facilitate movement of the surgical tool relative to the at least one bone;
determine distances between the surgical tool and the plurality of target trajectories;
automatically identify which one of the target trajectories is closest to and within a threshold distance of the surgical tool; and
display, on the display device, the identified target trajectory relative to the at least one bone and a tracked pose of the surgical tool relative to the identified target trajectory.

16 . The surgical system of claim 15 , wherein the control system is further configured to:
associate a virtual haptic object with each target trajectory; automatically and selectively activate the virtual haptic object associated with the identified target trajectory; and deactivate the virtual haptic object associated any the target trajectory that is not the identified target trajectory.

17 . The surgical system of claim 16 , wherein the control system is further configured to define each virtual haptic object using a line haptic object aligned with each respective target trajectory and a cylindrically shaped haptic object associated with each respective line haptic object.

18 . The surgical system of claim 16 , wherein the control system is further configured to control the robotic device to haptically constrain the surgical tool to the virtual haptic object associated with the identified target trajectory to facilitate preparation of a hole in the at least one bone for receipt of an implant.

19 . A method of operating a surgical system, the surgical system comprising a robotic device configured to support and move a surgical tool, a tracking system configured to track the surgical tool and at least one bone, a display device, and a control system, the method comprising the control system performing the following:
registering a plurality of target trajectories to the at least one bone; controlling the robotic device to facilitate movement of the surgical tool relative to the at least one bone; determining distance between the surgical tool and the plurality of target trajectories; automatically identifying which one of the target trajectories is closest to and within a threshold distance of the surgical tool; and displaying, on the display device, the identified target trajectory relative to the at least one bone and a tracked pose of the surgical tool relative to the identified target trajectory.

20 . The method of claim 19 , further comprising the control system:
associ

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

• G06F3/0346

  with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors · CPC title

• G06F3/04847

  Interaction techniques to control parameter settings, e.g. interaction with sliders or dials · 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