Robotic surgery planar cutting systems and methods
Examples of robotically controlled planar cutting systems and methods for controlling cutting systems to prepare bone tissue in surgical procedures, are generally described herein. Applicable surgical procedures for the robotically controlled cutting systems and methods include procedures involving the preparation (e.g., removal, surfacing) of bone tissue, such as is performed in knee arthroplasties. In an example, a robotically controlled planar cutting system can include a housing, a cutting element disposed in the housing, and a cutting control mechanism in communication with a robotic controller to control operation of the cutting element to machine a planar surface. The cutting element can be exposed and retracted relative to the housing and can include a plurality of cutting implements arranged to machine the planar surface.
1. A robotically controlled planar cutting system, the planar cutting system comprising:
a housing including a superior surface and an inferior surface;
a cutting element disposed within the housing, wherein the cutting element is exposable through the superior surface and is populated with at least one cutting implement configured for machining a planar surface; and
a cutting control mechanism configured for being in communication with a robotic controller to control the operation of the cutting element to machine the planar surface.
2. The robotically controlled planar cutting system of claim 1 , comprising an actuator to displace the at least one cutting implement relative to the housing to expose the cutting implement outside the housing.
3. The robotically controlled planar cutting system of claim 1 , comprising a transmission for displacing the at least one cutting implement relative to the housing in a direction parallel to the planar surface.
4. The robotically controlled planar cutting system of claim 1 , further comprising an end effector connection mechanism to couple the housing to a robotic arm.
5. The robotically controlled planar cutting system of claim 1 , further comprising an oscillator operably coupled to the cutting implement to oscillate the cutting element.
6. The robotically controlled planar cutting system of claim 1 , further comprising a rotator operably coupled the cutting element to rotate the cutting implement.
7. The robotically controlled planar cutting system of claim 1 , wherein the cutting implements are cutting mills disposed in a pattern.
8. The robotically controlled planar cutting system of claim 7 , wherein axes of rotation of the cutting mills are parallel to one another.
9. The robotically controlled planar cutting system of claim 8 , wherein the system includes a mechanism to oscillate or rotate the array of cutting mills.
10. The robotically controlled planar cutting system of claim 8 , wherein each cutting mill of the plurality of cutting mills rotates upon activation of the cutting element.
11. The robotically controlled planar cutting system of claim 8 , wherein each cutting mill of the plurality of cutting mills oscillates upon activation of the cutting element.
12. The robotically controlled planar cutting system of claim 1 , wherein the cutting implement includes a flexible cylindrical cutting band.
13. The robotically controlled planar cutting system of claim 12 , comprising an actuator to displace the flexible cylindrical cutting band relative to the housing to expose the flexible cylindrical cutting band outside the housing.
14. The robotically controlled planar cutting system of claim 12 , wherein the cutting element includes a first cylindrical drive member disposed along a first edge of the housing and a second cylindrical drive member disposed along a second edge of the housing opposite the first edge.
15. The robotically controlled planar cutting system of claim 14 , wherein the flexible cylindrical cutting band is stretched between the first cylindrical drive member and the second cylindrical drive member.
16. The robotically controlled planar cutting system of claim 15 , wherein the flexible cylindrical cutting band rotates upon activation of the cutting element.
17. The robotically controlled planar cutting system of claim 15 , wherein the flexible cylindrical cutting band oscillates upon activation of the cutting element.
18. The robotically controlled planar cutting system of claim 1 , comprising a transmission including a shaft extending in a direction parallel or quasi-parallel to the planar surface.
19. The robotically controlled planar cutting system of claim 1 , wherein a shield projects from the superior surface, the shield having a patient-specific contour being a negative of a patient's bone surface.
20. The robotically controlled planar cutting system of claim 1 , further comprising at least one clamp adapted to fix the housing to a bone.