Systems and methods for preparing a proximal tibia

Patent metadata

Field	Value
Publication number	US-9724109-B2
Application number	US-201414579730-A
Country	US
Kind code	B2
Filing date	Dec 22, 2014
Priority date	Dec 31, 2013
Publication date	Aug 8, 2017
Grant date	Aug 8, 2017

Abstract

A method of preparing a tibia to receive a tibial implant component includes performing a first set of cuts to prepare a floor interface surface on the tibia, wherein the floor interface surface includes a portion on each side of a tibial eminence extending above the floor interface surface on the tibia. The method further includes performing a second set of cuts to prepare a tibial eminence wall interface surface, wherein the wall interface surface extends substantially perpendicular to the floor interface surface between the floor interface surface and a top surface of the tibial eminence. The method further includes performing a third set of cuts to prepare a radiused intersection between the floor interface surface and the wall interface surface. The sets of cuts are performed subject to a cutting restraint guide. At least one set of cuts may be performed using a rotary cutter.

First claim

What is claimed is:

1. A surgical planning method for preparing a tibia to receive a tibial implant component, comprising:
acquiring a virtual representation of a proximal end of the tibia;
acquiring a virtual representation of a tibial implant;
positioning the virtual representation of the tibial implant on the virtual representation of the proximal end of the tibia;
planning preparation of the proximal end of the tibia based on the tibial implant, comprising:
planning a first set of cuts to prepare a floor interface surface on the tibia, wherein the floor interface surface comprises a portion on each side of a tibial eminence extending above the floor interface portion on the tibia;
planning a second set of cuts to prepare a tibial eminence wall interface surface, wherein the wall interface surface extends substantially perpendicular to the floor interface between the floor interface surface and a top surface of the tibial eminence; and
planning a third set of cuts to prepare a radiused intersection between the floor interface surface and the wall interface surface;

generating a virtual object specific to the plan of at least one of the first, second, and third sets of cuts and associating the virtual object with the virtual representation of the proximal end of the tibia, wherein the virtual object defines a cutting boundary configured to constrain movement of a surgical tool while the surgical tool is used for performing at least one of the first, second, and third sets of cuts.

2. The method of claim 1 , further comprising providing a mechanical cutting guide configured for implementing at least one of the planned sets of cuts.

3. The method of claim 1 , wherein generating a virtual object comprises generating a haptic boundary configured to be applied to a surgical tool to constrain the tool against penetration of the haptic boundary.

4. The method of claim 1 , wherein planning the third set of cuts comprises planning the third set of cuts to prepare a radiused intersection between the floor interface surface and the wall interface surface using a rotary surgical cutting tool.

5. The method of claim 4 , wherein planning the first set of cuts or planning the second set of cuts comprises, respectively, planning the first set of cuts to prepare a floor interface surface on the tibia using the rotary surgical cutting tool or planning the second set of cuts to prepare a tibial eminence wall interface surface using the rotary surgical cutting tool.

6. The method of claim 1 , further comprising providing a surgical system configured to carry out the surgical plan, the surgical system comprising:
a surgical device configured to hold a surgical tool and be manipulated by a user to perform preparation of the tibia;
a feedback mechanism providing the cutting restraint guide and configured to supply feedback to the user manipulating surgical device based on a relationship between the bone and the surgical device; and
a computing system programmed to control the feedback mechanism to provide guidance to the user while the user manipulates the surgical device.

7. The method of claim 6 , wherein the computing system is further configured to generate a haptic boundary, and wherein the feedback mechanism provides a haptic force applied to the surgical tool to constrain the tool against penetration of the haptic boundary.

Assignees

• Mako Surgical Corp

Inventors

• Nadzadi Mark
• Abbasi Ali
• Mistry Amit
• Otto Jason

Classifications

• A61B17/1675

  for the knee · CPC title

• A61B17/157 Primary

  Cutting tibia · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61F2002/6827

  Feedback system for providing user sensation, e.g. by force, contact or position · CPC title

• A61B17/1764 Primary

  for the knee · CPC title