SYSTEMS AND METHODS FOR NAVIGATION AND CONTROL OF AN IMPLANT POSITIONING DEVICE
Systems and methods for navigation and control of an implant positioning device are discussed. For example, a method can include operations for accessing an implant plan, establishing a 3-D coordinate system, receiving tracking information, generating control signals, and sending the control signals to the implant positioning device. The implant plan can include location and orientation data describing an ideal implant location and orientation in reference to an implant host. The 3-D coordinate system can provide spatial orientation for the implant positioning device and the implant host. The tracking information can identify current location and orientation data within the 3-D coordinate system for the implant positioning device and implant host during a procedure. The control signals can control operation of the implant positioning device to assist a surgeon in positioning the implant according to the implant plan.
1 - 38 . (canceled)
39 . An implant positioning device comprising:
an end effector configured to contact an implant component during a surgical procedure;
a motor configured to cause one or more impacts to be produced at the end effector, thereby imparting the impact force to the implant component; and
a control circuit coupled to the motor and configured to:
determine one or more parameters for the implant positioning device,
generate at least one motor control signal based on the one or more parameters,
transfer the at least one motor control signal to the motor, and
as a result of the at least one motor control signal, cause the motor to move the end effector to produce one or more impacts.
40 . The device of claim 39 , wherein the one or more parameters comprise at least one of an amplitude of impact, a frequency of impact, and a duration of impact.
41 . (canceled)
42 . The device of claim 39 , wherein the one or more parameters comprise at least one of a location and an angle at which the implant positioning device is directed to impact the implant component.
43 . (canceled)
44 . The device of claim 39 , wherein the end effector comprises a retention device configured to retain the implant component in a fixed position relative to the end effector during insertion.
45 . The device of claim 39 , further comprising a tracking marker configured to be tracked by a tracking system, thereby providing for monitoring of a position of the implant positioning device during the surgical procedure.
46 . The device of claim 39 , further comprising an actuator operably connected to the end effector and the motor and configured to impart an impact force to at least a portion of the implant component during the surgical procedure.
47 . The device of claim 46 , wherein the actuator comprises a plurality of actuators positioned about an exterior periphery of the end effector.
48 . The device of claim 47 , wherein the plurality of actuators are configured to induce a rotation on the implant component during insertion.
49 . The device of claim 39 , further comprising a telescoping positioning arm, wherein the actuator is affixed to a distal end of the telescoping positioning arm.
50 . The device of claim 49 , wherein the motor is further configured to control extension of the telescoping positioning arm.
51 . The device of claim 39 , wherein the one or more parameters comprise an impact frequency indication defining the frequency at which to produce the one or more impacts.
52 . The device of claim 39 , wherein the implant component comprises a prosthetic acetabular cup.