Granted Patent B2

US 12,214,501 · App. 17/513,368 · Granted Feb 4, 2025

Inventors: Abdullah Abbasi (San Diego, CA); Amar Bhatt (Syracuse, NY); Andrei Danilchenko (Miami, FL)

Assignee: MAKO Surgical Corp.

B25J9/1664A61B17/142A61B34/20A61B34/25A61B34/30A61B34/32B25J9/1689B25J9/1692G05B15/02G16H20/40G16H40/67A61B2034/2055A61B2034/2059A61B2034/252

Abstract

Claims (50)

1. A method of operation of a robotically-assisted surgical system, comprising:

defining a virtual geometry associated with a planned resection;

determining a first pose of a surgical tool in response to an interruption of performance of the planned resection;

intraoperatively defining a target orientation for the surgical tool on using the first pose such that the target orientation corresponds to an angle of the surgical tool in the virtual geometry at the interruption;

controlling a robotic device to automatically move the surgical tool to both the virtual geometry and the target orientation.

2. The method of claim 1 , wherein determining the first pose of the surgical tool comprises:

detecting the interruption of performance of the planned resection; and

determining the first pose the surgical tool in the virtual geometry in response to detecting the interruption using data from an optical tracking system.

3. The method of claim 2 , wherein controlling the robotic device to automatically move the surgical tool into both the virtual geometry and the target orientation causes return of the surgical tool to the angle of the surgical tool in the virtual geometry at the interruption.

4. The method of claim 1 , wherein determining the first pose of the surgical tool comprises:

detecting a user request to initiate automated alignment of the surgical tool to the virtual geometry;

initiating the controlling the robotic device when the user request is detected.

5. The method of claim 1 , wherein defining the target orientation for the surgical tool based on the first pose, comprises:

determining whether the first pose is in a first category or a second category;

defining the target orientation as a first orientation if the first pose is in the first category and defining the target orientation as a second orientation if the first pose is in the second category.

6. The method of claim 5 , wherein:

the first category corresponds to poses in which the surgical tool points at least partially in a medial-to-lateral direction with respect to a joint of a patient; and

the second category corresponds to poses in which the surgical tool points at least partially in a lateral-to-medial direction with respect to the joint of the patient.

7. The method of claim 5 , wherein:

the first orientation is dynamically defined to comprise an angle of the first pose; and

the second orientation is static and predefined.

8. The method of claim 7 , wherein the second orientation is perpendicular to a medial-to-lateral direction with respect to the joint of a patient.

9. The method of claim 1 , wherein controlling the robotic device to automatically move the surgical tool to both the virtual geometry and the target orientation comprises causing the robotic device to automatically move for a duration greater than a preset lower bound on the duration and less than a preset upper bound on the duration.

10. A surgical system comprising:

a robotic device;

a surgical tool coupled to the robotic device;

a controller configured to:

define a plane for performing a cut of a bone;

control the robotic device to allow manual movement of the surgical tool in the plane while the surgical tool is used to perform the cut of the bone;

detect an interruption of performance of the cut;

determine a last angular orientation of the surgical tool in the plane before occurrence of the interruption; and

control the robotic device to automatically realign the surgical tool to both the plane and the last angular orientation of the surgical tool.

11. The surgical system of claim 10 , wherein the interruption is caused by a deviation from the plane, and wherein the controller is configured to:

determine whether the deviation exceeds a threshold;

in response to determining that the deviation exceeds the threshold, control the robotic device to move the surgical tool to a first distance from the bone while automatically realigning the surgical tool to both the plane and the last angular orientation of the surgical tool;

in response to determining that the deviation does not exceed the threshold, control the robotic device to move the surgical tool to a second distance from the bone while automatically realigning the surgical tool to both the plane and the last angular orientation of the surgical tool.

12. The surgical system of claim 11 , wherein the second distance is less than the first distance.

13. The surgical system of claim 10 , wherein the interruption comprises an occlusion of a tracking system.

14. The surgical system of claim 10 , wherein the interruption comprises a deviation of the surgical tool from the plane.

15. Non-transitory computer-readable media storing program instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

defining a virtual geometry relative to an anatomical feature;

controlling a robotic device coupled to a tool to guide the tool with the virtual geometry;

detecting a deviation of the tool from the virtual geometry;

controlling the robotic device to automatically move the tool to a first position having a first distance from the anatomical feature if the deviation exceeds a threshold; and

controlling the robotic device to automatically move the tool to a second position having a second distance from the anatomical feature if the deviation is less than the threshold.

16. The non-transitory computer-readable media of claim 15 , wherein the second distance is less than the first distance.

17. The non-transitory computer-readable media of claim 15 , wherein the first position and the second position are aligned with the virtual geometry.

18. The non-transitory computer-readable media of claim 15 , the operations further comprising determining a last angular orientation of the tool in the virtual geometry before occurrence of the deviation;

wherein controlling the robotic device to automatically move the tool to the second position further comprises automatically aligning the tool to the last angular orientation of the tool.

19. The non-transitory computer-readable media of claim 18 , wherein controlling the robotic device to automatically move the tool to the first position further comprises automatically aligning the tool to the last angular orientation of the tool.

Assignments (1)

Continuity (5)

References Cited (397)