JPWO2020210621A5

JPWO2020210621A5 -

Info

Publication number: JPWO2020210621A5
Application number: JP2021560743A
Authority: JP
Publication date: 2023-04-06
Anticipated expiration: 2040-04-10

Claims

A robotic surgical system for use with a surgical saw having a saw blade, comprising:
a robot manipulator;
An end effector including a cutting guide coupled to the robotic manipulator, the cutting guide configured to guide the saw blade such that the saw blade cuts bone along a desired cutting plane. the end effector, and
A control system coupled to the robotic manipulator for positioning the cutting guide relative to the bone by:
autonomously positioning the cutting guide relative to the bone in a target orientation such that the saw blade aligns with the desired cutting plane when the saw blade cooperates with the cutting guide;
A user manually manipulates the end effector to move the cutting guide toward the bone to the initial guide position adjacent the bone such that the cutting guide remains oriented toward the target in the initial guide position. sometimes restricting movement of the cutting guide;
the control system, controlled by
including
The control system facilitates withdrawal of the cutting guide to a guide position spaced from the initial guide position after the user makes an initial cut in the bone with the saw blade along the desired cutting plane. is configured to
The cutting guide remains oriented toward the target at the spaced guide position, the spaced guide position suitable for the saw blade to continue cutting the bone along the desired cutting plane. ing,
robotic surgery system.

The control system is configured to operate the robotic manipulator to autonomously withdraw the cutting guide from the bone and move the cutting guide from the initial guide position to the spaced guide position. The robotic surgical system of claim 1.

The control system generates instructions for the user to make the initial cut into the bone with the saw blade while the cutting guide is in the initial guide position, and after the initial cut is made, configured to generate instructions for the user to withdraw the cutting guide from the bone;
The control system is configured to operate the robotic manipulator to limit movement of the cutting guide when the user manually manipulates the cutting guide to withdraw the cutting guide from the bone. A robotic surgical system according to claim 1 or claim 2.

Claims 1-3, wherein the control system is configured to determine the spaced-apart guide positions of the cutting guide based on one or more parameters associated with the saw blade. The robotic surgical system according to any one of .

The one or more parameters are the length of the saw blade, the width of the saw blade, the maximum depth that the saw blade can cut into the bone through the cutting guide, and the tracking of the saw blade. 5. The robotic surgical system of claim 4, comprising at least one of: a position;

The control system operates the robotic manipulator so that the user makes the initial cut with the saw blade along the desired cutting plane while the cutting guide is positioned adjacent the bone. 6. The robotic surgical system of any one of claims 1-5, configured to lock the cutting guide in the initial guide position relative to the bone so that the cutting guide can be removed.

a navigation system for tracking one or more of the bone, the saw blade, and the cutting guide;
the navigation system comprises a display for presenting a visual representation of one or more of the bone, the saw blade, and the cutting guide;
the navigation system configured to track the position and orientation of the cutting guide relative to the bone;
The navigation system is configured to generate a visual representation of the region of the bone reachable by the saw blade when the cutting guide is in the spaced guide position. 7. The robotic surgical system according to any one of 6.

The control system operates the robotic manipulator to operate the cutting guide while the user manually manipulates the end effector to withdraw the cutting guide from the bone after a portion of the bone has been resected. The robotic surgical system of any one of claims 1-7, wherein the robotic surgical system is configured to restrict movement of the.

The control system operates the robotic manipulator to move the cutting guide such that the saw blade cannot contact the bone through the cutting guide when the cutting guide is at a starting distance. The robotic surgical system of any one of claims 1-8, wherein the robotic surgical system is configured to autonomously position toward the target at the starting distance away from the bone.

The control system is configured to operate the robotic manipulator to autonomously position the cutting guide such that the saw blade is aligned with a second desired cutting plane. 10. The robotic surgical system of any one of claims 9.

The desired cutting plane is further defined as a first desired cutting plane, and the control system operates the robotic manipulator to align the saw blade with a second desired cutting plane in response to user input. The robotic surgical system of any one of claims 1-10, wherein the robotic surgical system is configured to autonomously position the cutting guide so as to.

The control system is configured to operate the robotic manipulator to autonomously position the cutting guide such that the saw blade aligns with a plurality of desired cutting planes to make a plurality of planar cuts. cage,
the control system determines a sequence of positioning of the cutting guide to make the planar cut based on predetermined criteria;
The predetermined criteria include user preferences, the distance between the desired cutting planes, the current alignment of the cutting guide with respect to the desired cutting plane, and the required distance of the cutting guide to reach the desired cutting plane. movement, including one or more of
The robotic surgical system of any one of claims 1-11, wherein the desired cutting plane is defined by a virtual object.

a navigation system for tracking one or more of the bone, the saw blade and the cutting guide;
The navigation system includes a first tracker for tracking the position and orientation of the cutting guide, a second tracker for tracking the position and orientation of the bone, and a position and orientation of the saw blade. a third tracker for
The robotic surgical system of any one of claims 1-12, wherein the initial guide position and the spaced guide position of the cutting guide are determined based on data from the navigation system.

a navigation system for tracking one or more of the bone, the saw blade and the cutting guide;
the navigation system is configured to determine one or more of velocity or acceleration of the bone;
the control system is configured to operate the robotic manipulator in a free mode in response to one or more of the bone velocity or acceleration exceeding predetermined limits;
The control system causes the saw blade to recombine with the desired cut surface in response to the navigation system determining that one or more of the bone velocity or acceleration is below the predetermined limit. The robotic surgical system of any one of claims 1-13, configured to autonomously position the cutting guide so that it is aligned.

a navigation system for tracking one or more of the bone, the saw blade and the cutting guide;
the navigation system comprising a localizer for receiving light from a plurality of tracking elements;
the navigation system is configured to determine whether one or more of the tracking elements are blocked from view of the localizer;
2. The control system of claim 1, wherein the control system is configured to facilitate withdrawal of the cutting guide from the bone in response to one or more of the tracking elements being blocked from view. The robotic surgical system of any one of claims 1-14.

The control system operates the robotic manipulator to move the cutting guide from the bone along the orientation of the cutting guide that was retracted before one or more of the tracking elements were blocked from view. 16. The robotic surgical system of claim 15, configured to withdraw.

The control system operates the robotic manipulator such that, in response to one or more of the tracking elements being no longer obscured from the localizer's view, the saw blade re-aligns with the desired cutting plane. 16. The robotic surgical system of claim 15, configured to autonomously position the cutting guide so that it is aligned.

the robotic surgical system includes one or more sensors for measuring one or more forces and torques applied by the user to one or more of the end effector and the robotic manipulator;
18. The control system of any one of claims 1 to 17, wherein the control system is configured to operate the robotic manipulator in free mode in response to the one or more forces and torques exceeding predetermined limits. The robotic surgical system according to .

19. The control system of any one of claims 1-18, wherein the control system comprises one or more sensors coupled to the cutting guide for determining the relative position of the saw blade with respect to the cutting guide. The described robotic surgical system.

Claims 1-19, comprising a passive linkage interconnecting the base of the end effector and the cutting guide to restrict movement of the cutting guide to a single plane with respect to the base of the end effector. The robotic surgical system according to any one of .

The robotic surgical system of any one of claims 1-20, comprising an articulated arm coupled to the bone to limit movement of the bone.

a robot manipulator;
An end effector including a guide coupled to the robotic manipulator, the guide adapted to guide the surgical tool to move along a desired plane or axis to remove material from bone. the end effector configured to:
A control system coupled to the robotic manipulator for positioning the guide relative to the bone by:
autonomously positioning the guide in a target orientation relative to the bone such that the surgical tool aligns with the desired plane or axis when positioned within the guide;
When a user manually manipulates the end effector to move the guide toward the bone to the initial guide position adjacent the bone such that the guide remains oriented toward the target in the initial guide position. , restricting the movement of said guide;
the control system, controlled by
including
The control system directs the guide to a guide position spaced from the initial guide position after the user has removed an initial amount of material from the bone with the surgical tool along the desired plane or axis. is configured to facilitate the extraction of the
The guide remains oriented toward the target at the spaced-apart guide position, which allows the surgical tool to continue removing material from the bone along the desired plane or axis. suitable for
robotic surgery system.