Systems and methods for robotic ankle arthroplasty
Instrument systems for performing total ankle arthroplasties comprise an instrument adapter, a talus reaming guide and a talar trial system. The instrument adapter comprises a coupler for attaching to a robotic surgical arm, an extension arm extending from the coupler, a talus resection block attached to the extension arm, including a talus cutting guide surface, and an interface for receiving another instrument. The talus reaming guide comprises a second attachment member for coupling to the interface, and a reaming hoop for confining movement of a reamer. The talar trial system comprises a talar adapter for connecting to the interface, and a talar trial couplable to the talar adapter, the talar trial including a talar bearing surface. The talus resection block can serve as a universal instrument adapter for mounting the talus reaming guide, the talar trial system and a tibia resection block for performing a total ankle arthroplasty.
1 . A robotic surgical system comprising:
a robotic arm configured to move an end of the robotic arm in relationship to a coordinate system for the robotic surgical system;
a universal instrument adapter comprising:
a coupler for attaching to the end of the robotic arm;
an extension arm extending from the coupler; and
a resection block connected to the extension arm, the resection block comprising:
an interface for receiving an attachment instrument; and
a first guide surface for guiding a first surgical step:
a set of attachment instruments, each attachment instrument of the set of attachment instruments having a geometry and being configured to couple with the interface; and
a controller for the robotic surgical system, the controller comprising a non-transitory storage medium having computer-readable instructions stored therein comprising:
pre-determined dimensional data for the universal instrument adapter;
pre-determined dimensional data for geometries of each of the attachment instruments;
registration data for the universal instrument adapter to locate the universal instrument adapter in the coordinate system:
instructions for determining positional data for each attachment instrument in the coordinate system when attached to the interface based on coupling with the interface; and
instructions for automatically moving the end of the robotic arm to position each of the attachment instruments into specific locations within the coordinate system according to a surgical plan.
2 . The robotic surgical system of claim 1 , wherein:
the computer-readable instructions further comprise:
location data for performing steps of a surgical procedure in the coordinate system; and
the controller is configured to move the robotic arm to position each of the attachment instruments to perform steps of the surgical procedure.
3 . The robotic surgical system of claim 2 , wherein:
the computer-readable instructions further comprise:
location data for the interface of the universal instrument adapter relative to the coupler; and
location data for a fastener of each of the attachment instruments for interacting with the interface relative to an operative portion of each of the attachment instruments; and
the controller is configured to determine a location of each of the operative portions relative to the end of the robotic arm.
4 . The robotic surgical system of claim 2 , wherein:
the computer-readable instructions further comprise:
location data for the interface of the universal instrument adapter relative to the coupler; and
location data for a first guide surface of a first of the attachment instruments; and
the controller is configured to determine a location of the first guide surface relative to the end of the robotic arm.
5 . The robotic surgical system of claim 4 , wherein:
the computer-readable instructions further comprise:
location data for a second guide surface of the universal instrument adapter; and
the controller is configured to:
determine a location of the second guide surface relative to the end of the robotic arm; and
move the second guide surface to a specific location in the coordinate system to perform a step of the surgical procedure.
6 . The robotic surgical system of claim 1 , wherein:
the universal instrument adapter further comprises:
a first resection block for resecting a first bone; and
the set of attachment instruments comprises:
a second resection block for resecting a second bone.
7 . The robotic surgical system of claim 6 , wherein:
the first resection block comprises a talus resection block; and
the set of attachment instruments comprises:
a tibia resection block comprising the second resection block;
a talus reaming guide; and
a talar adapter.
8 . The robotic surgical system of claim 1 , further comprising a registration boot, the registration boot comprising:
means for positioning a first bone of a joint relative to a second bone of the joint in a fixed relationship, the means comprising:
a locking pin; and
straps for securing the first and second bones to the registration boot; and
means for registering the position of the registration boot to the coordinate system of the robotic surgical system, the means comprising an optical tracker.
9 . The robotic surgical system of claim 1 , wherein:
the computer-readable instructions further comprise:
a gap height between a first guide surface of a first of the set of attachment instruments and a second guide surface of a second of the set of attachment instruments.
10 . The robotic surgical system of claim 1 , where the dimensional data for the universal instrument adapter stored in the computer-readable instructions further comprise information for a relative location between the coupler and the interface.
11 . The robotic surgical system of claim 1 , wherein the computer-readable instructions further comprise information for registering geometry of the universal instrument adapter to the coordinate system when the coupler of the universal instrument adapter is connected to the end of the robotic arm.