System and method for detecting a potential collision between a bone and an end-effector
A method of detecting a potential collision between an end-effector and bystander anatomy is provided. A cut-file or a representation of an implant is registered to a position of a first bone, the registered cut-file defining at least one orientation for an end-effector axis to assume while physically modifying the first bone. Imaging data of bystander anatomy is registered to a position of the bystander anatomy. The at least one orientation of the end-effector axis as defined in the registered cut-file is calculated in a computer if it has a spatial overlap with the registered imaging data to detect the potential collision. A portion of the registered representation can also projected along an axis with the projection used to determine possible collisions and if so provide the user with options.
1 . A computerized method of collision avoidance between an end-effector and a bystander anatomy during a surgical procedure performed by a computer-assisted surgical (CAS) system, the method comprising:
registering a representation of an implant to a position of a first bone;
registering first imaging data of the bystander anatomy to a position of the bystander anatomy;
projecting a portion of the registered representation along an axis, wherein the axis represents an orientation of the end-effector when cutting at least a portion of the first bone;
determining if a projection collides with the registered first imaging data; and
if the projection collides, presenting a user with options comprising at least one of: a) physically moving at least one of the first bone or the bystander anatomy; b) limiting a number cuts to the first bone by the end-effector to preclude contact between the end-effector and the bystander anatomy; or c) a combination thereof.
2 . The method of claim 1 , further comprising:
second imaging data of the first bone, wherein the second imaging data is registered to the position of the first bone.
3 . The method of claim 2 , wherein the registered representation of the implant, the registered first imaging data, the registered second imaging data, and the projected portion of the registered representation are displayed on a monitor as visual feedback or the first imaging data of the bystander anatomy is a three-dimensional (3-D) model of the bystander anatomy, and the representation of the implant is a 3-D model of the implant.
4 . The method of claim 1 , further comprising:
planning a position of the representation of the implant in or on the first bone based on dimensions of the first bone in pre-operative data.
5 . The method of claim 1 , further comprising:
moving the first bone or the bystander anatomy until the projection no longer intersects with the bystander anatomy.
6 . The method of claim 1 , wherein the end-effector comprises a tool having a shaft, wherein the axis represents an orientation of the shaft when removing material from the first bone, and wherein the material corresponds to the portion of the registered representation that will be received in the first bone.
7 . The method of claim 1 , wherein the projected portion of the registered representation is a projected cross-section of the portion of the registered representation or a projection of an entirety of the registered representation.