CLOSED-LOOP TOOL CONTROL FOR ORTHOPEDIC SURGICAL PROCEDURES

1 . A method comprising:

obtaining, via a virtual surgical plan for an orthopedic joint repair surgical procedure for a patient, a target value of a parameter of a modification to be made to a bone of the patient with a tool;

obtaining a current value of the parameter;

comparing the current value of the parameter and the target value of the parameter; and

automatically and selectively throttling a state of the tool based on the comparison.

2 . The method of claim 1 , wherein the parameter comprises one or more of: an angle or a depth.

3 . The method of claim 1 , wherein throttling operation of the tool comprises reducing an operating power of the tool based on a difference between the current value of the parameter and the target value of the parameter.

4 . The method of claim 1 , wherein the tool is a handheld tool.

5 . The method of claim 4 , wherein the tool is one or more of a drill, an oscillating saw, or a reaming device.

6 . The method of claim 1 , further comprising:

displaying, via a visualization device, an indication of the state of the tool.

7 . The method of claim 6 , wherein displaying the indication of the state of the tool comprises projecting the indication via one or more see-through lenses through which a user is able to view at least a portion of the bone of the patient.

8 . The method of claim 7 , wherein the portion of the bone of the patient is viewable via the one or more see-through lenses of the visualization device, the method further comprising:

displaying, via the see-through lenses, a virtual model of the bone; and

displaying, via the see-through lenses, a virtual guide that guides performance of the modification to be made to the bone.

9 . The method of claim 1 , wherein obtaining the current value for the parameter comprises:

obtaining the current value for the parameter based on data generated by one or more sensors included in a visualization device worn by an operator of the tool.

10 . The method of claim 9 , wherein the one or more sensors include one or more accelerometers, one or more gyroscopes, one or more depth cameras, and/or one or more RGB cameras.

11 . The method claim 1 , wherein the virtual surgical plan is a patient-specific virtual surgical plan.

12 . A mixed reality system comprising:

a memory that stores at least a portion of a virtual surgical plan; and

one or more processors configured to:

obtain, via the virtual surgical plan for an orthopedic joint repair surgical procedure for a patient, a target value of a parameter of a modification to be made to a bone of the patient with a handheld tool;

obtain a current value of the parameter;

compare the current value of the parameter and the target value of the parameter; and

automatically and selectively throttle a state of the handheld tool based on the comparison.

13 . The mixed reality system of claim 12 , wherein the parameter comprises one or more of: an angle or a depth.

14 . The mixed reality system of claim 12 , wherein, to throttle operation of the handheld tool, the one or more processors are configured to reduce an operating power of the handheld tool based on a difference between the current value of the parameter and the target value of the parameter.

15 . The mixed reality system of claim 12 , wherein the handheld tool is one or more of a drill, an oscillating saw, or a reaming device.

16 . The mixed reality system of claim 12 , further comprising:

a visualization device,

wherein the one or more processors are further configured to display, via the visualization device, an indication of the state of the handheld tool.

17 . The mixed reality system of claim 16 , wherein, to display the indication of the state of the tool, the one or more processors are configured to cause the visualization device to project the indication via one or more see-through lenses through which a user is able to view at least a portion of the bone of the patient.

18 . The mixed reality system of claim 17 , wherein the portion of the bone of the patient is viewable via the one or more see-through lenses of the visualization device, and wherein the one or more processors are further configured to cause the visualization device to:

display, via the see-through lenses, a virtual model of the bone; and

display, via the see-through lenses, a virtual guide that guides performance of the modification to be made to the bone.

19 . The mixed reality system of claim 12 , further comprising:

a visualization device worn by an operator of the handheld tool, the visualization device comprising one or more sensors,

wherein, to obtain the current value for the parameter, the one or more processors are configured to obtain the current value for the parameter based on data generated by the one or more sensors included in the visualization device.

20 . The mixed reality system of claim 19 , further comprising the handheld tool.

21 . A computer-readable storage medium storing instructions that, when executed, cause one or more processors of a mixed reality system to:

obtain, via a virtual surgical plan for an orthopedic joint repair surgical procedure for a patient, a target value of a parameter of a modification to be made to a bone of the patient with a handheld tool;

obtain a current value of the parameter;

compare the current value of the parameter and the target value of the parameter; and

automatically and selectively throttle a state of the handheld tool based on the comparison.