SURGICAL ROBOTICS SYSTEM WITH DYNAMIC GAP CAPTURE
A method includes measuring a distraction force applied between a first bone and a second bone of a joint, capturing, in response to the distraction force being less than a threshold and by tracking the first bone and the second bone using a tracking system, a gap distance between the first bone and the second bone of the joint and abstaining, in response to the distraction force being greater than the threshold, from capturing the gap distance between the first bone and the second bone of the joint.
1 . A method, comprising:
measuring a distraction force applied between a first bone and a second bone of a joint;
capturing, in response to the distraction force being less than a threshold and by tracking the first bone and the second bone using a tracking system, a gap distance between the first bone and the second bone of the joint; and
abstaining, in response to the distraction force being greater than the threshold, from capturing the gap distance between the first bone and the second bone of the joint.
2 . The method of claim 1 , comprising applying the distraction force by robotically operating a distraction device.
3 . The method of claim 2 , wherein the distraction device is mounted on a robotic arm, and wherein measuring the distraction force is performed by a sensor included in the distraction device.
4 . The method of claim 2 , comprising displaying, on a graphical user interface, the distraction force and a visualization of the distraction device in a live-tracked pose.
5 . The method of claim 2 , comprising:
displaying, on a graphical user interface, a virtual model of the first bone; and
in response to moving of the distraction device, displaying a distraction force point path on the virtual model of the first bone.
6 . The method of claim 1 , wherein capturing the gap distance comprises:
comparing a current gap distance to prior gap distances achieved between the first bone and the second bone with the distraction force being less than the threshold; and
setting the current gap distance as the captured gap distance in response to the current gap distance being higher than the prior gap distances.
7 . The method of claim 6 , wherein abstaining, in response to the distraction force being greater than the threshold, from capturing the gap distance between the first bone and the second bone of the joint comprises abstaining from increasing the captured gap distance while the distraction force is greater than the threshold.
8 . The method of claim 1 , comprising dynamically determining the threshold based on anatomical data collected during an initial assessment of the joint.
9 . The method of claim 1 , comprising:
displaying, on a graphical user interface, a visualization of the first bone and the second bone; and
overlaying, on the visualization of the first bone, a graphical representation of the distraction force.
10 . The method of claim 9 , further comprising providing, on the graphical user interface and proximate the visualization of the first bone and the second bone, a graphical representation of the gap distance.
11 . A system, comprising:
a robotic-operated distraction device configured to apply a distraction force between a first bone and a second bone of a joint;
a tracking system configured to track the first bone and the second bone; and
a computer programmed to:
capture, in response to the distraction force being less than a threshold and using data from the tracking system, a gap distance between the first bone and the second bone of the joint; and
abstain, in response to the distraction force being greater than the threshold, from capturing the gap distance between the first bone and the second bone of the joint.
12 . The system of claim 11 , wherein the robotically-operated distraction device comprises a sensor configured to provide a measurement of the distraction force for comparison to the threshold.
13 . The system of claim 11 , further comprising a screen, wherein the computer is programmed to cause the screen to display virtual models of the first bone and the second bone and a visualization of the distraction device based on live tracking.
14 . The system of claim 11 , comprising a robotic arm, wherein the robotically-operated distraction device is mounted on the robotic arm.
15 . The system of claim 11 , wherein the computer is programed to capture, in response to the distraction force being less than the threshold, the gap distance by:
comparing a current gap distance to prior gap distances achieved between the first bone and the second bone with the distraction force being less than the threshold; and
setting the current gap distance as the captured gap distance in response to the current gap distance being higher than the prior gap distances.
16 . The system of claim 15 , wherein the computer is programed to abstain, in response to the distraction force being greater than the threshold, from capturing the gap distance by abstaining from increasing the captured gap distance while the distraction force is greater than the threshold.
17 . The system of claim 11 , wherein the computer is programmed to dynamically determining the threshold based on anatomical data collected during an initial assessment of the joint.
18 . The system of claim 11 , further comprising a screen, wherein the computer is programmed to cause the screen to display a visualization of the first bone overlaid with a graphical representation of the distraction force.
19 . The system of claim 18 , wherein the computer is programmed to cause the screen to display a graphical representation of the gap distance.
20 . A method comprising:
operating a robotic device to apply a distraction force to a joint; and
capturing, by tracking bones of the joint, a maximum gap distance achieved while the distraction force is less than a threshold, wherein gap distances achieved while the distraction force is greater than the threshold are ignored when determining the maximum gap distance.