Granted Patent B2

US 10,251,663 · App. 15/398,996 · Granted Apr 9, 2019

Inventor: Kambiz Behzadi (Pleasanton, CA)

A61B17/320068A61B17/142A61B17/1659A61B17/1666A61B17/1668A61B17/1675A61F2/4609A61B2017/320082A61F2002/4632A61F2002/4662A61F2002/4666A61F2002/4681A61F2002/4683

Abstract

Claims (21)

1. A bone preparation tool, comprising:

a bone-processing implement configured to process an in-patient bone using a primary motion in a primary mode of freedom of motion; and

a motive system, coupled to said cutting implement, configured to operate said boneprocessing implement in said primary mode of freedom of motion and in a secondary mode of motion, said secondary mode of freedom different from said primary mode of freedom wherein said secondary mode of freedom includes an ultrasonic vibratory motion;

wherein said bone-processing implement includes a saw blade and wherein said primary mode of freedom of motion includes a lateral reciprocating motion.

2. The bone preparation tool of claim 1 wherein said primary mode of freedom of motion includes a subsonic motion for said primary motion.

3. The bone preparation tool of claim 1 further comprising:

a constraint, coupled to said processing implement, configured to predefine a set of bone regions for said in-patient bone and further configured to monitor a relative location of said processing implement relative to a particular portion of said in-patient bone to be processed by said processing implement;

wherein said constraint provides a realtime feedback signal during bone processing regarding a desirability of processing said particular portion of said in-patient bone.

4. The bone preparation tool of claim 3 wherein said constraint includes a haptic robotic system and wherein said realtime feedback signal includes a realtime tactile cue that varies responsive to said particular portion.

5. The bone preparation tool of claim 3 wherein said wherein said set of bone regions includes a first subset of desirable bone regions to be processed.

6. The bone preparation tool of claim 5 wherein said realtime feedback signal limits processing of said particular portion when said particular portion is not part of said first subset of desirable bone regions to be processed.

7. The bone preparation tool of claim 4 wherein said constraint includes a haptic robotic system and wherein said realtime feedback signal includes a realtime tactile cue that varies responsive to said particular portion.

8. The bone preparation tool of claim 5 wherein said constraint includes a haptic robotic system and wherein said realtime feedback signal includes a realtime tactile cue that varies responsive to said particular portion.

9. A method for preparing an in-patient bone comprising:

processing, using a bone-processing implement, the in-patient bone using a primary motion in a primary mode of freedom of motion for said a bone-processing implement; and

concurrently operating said a bone-processing implement in a secondary motion including a secondary mode of freedom of motion;

wherein said secondary mode of freedom is different than said primary mode of freedom of motion;

wherein said secondary motion includes an ultrasonic vibration motion; and

wherein said bone-processing implement includes a saw blade and wherein said primary mode of freedom of motion includes a lateral reel reciprocating motion.

10. The method of claim 9 further comprising:

constraining said processing using a constraint system coupled to said processing implement not to process undesired portions of the in-patient bone wherein said constraint system identifies a set of desirable regions of the in-patient bone to be processed using said processing implement.

Continuity (3)

Cited By (8)

US 12,193,951 US 12,251,148 US 12,324,615 US 12,364,558 US 12,390,259 US 12,514,668 US 12,533,171 US 12,539,157