Haptic guidance system and method

Abstract

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

Description

[0001] Cross References to Related Applications [0002] The contents of each of the following applications are hereby incorporated by reference into this application: U.S. Provisional Patent Application No. 60 / 759,186, filed January 17, 2006; U.S. Provisional Patent Application No. 60 / 655,642, filed February 22, 2005 applications; U.S. Patent Application No. 10 / 621,119, filed July 16, 2003; U.S. Patent Application No. 10 / 384,194, filed March 6, 2003; U.S. Patent Application No. 384,078; U.S. Patent Application No. 10 / 384,077, filed March 6, 2003; U.S. Patent Application No. 10 / 384,072, filed March 6, 2003; and U.S. Provisional Patent Application No. 60 / 362,368 filed. technical field [0003] The present invention relates to a surgical system, and more particularly, the present invention relates to a surgical system and method for orthopedic joint replacement. Background technique [0004] Minimally invasive surgery (MIS) refers to surgical procedures performed through sm...

AI Technical Summary

Problems solved by technology

[0005] A disadvantage of MIS is that the small incision size impairs the surgeon's ability to visualize and access the anatomy

[0006] In the context of orthopedic surgery, both MIS and traditional surgical methods have a disadvantage: when preparing the bone to receive the implant, not only the diseased bone is removed, but also the healthy bone along with it

[0007] Another disadvantage that MIS shares with traditional orthopedic methods is that these methods do not allow surgeons to improve their surgical skills in a collaborative manner.

Other disadvantages of autonomous systems include: large size of the manipulator, poor ergonomics, need to rigidly clamp the bone during registration and Autonomous nature with limited acceptance by surgeons and governing bodies

A disadvantage of common interactive manipulator systems is that these systems lack the ability to adapt to surgical planning and implement real-time navigation for the dynamic surgical environment

The interactive manipulator system also requires the corresponding anatomy to be rigidly constrained, and the manipulator system is fixed in a rough position, thus, it lacks the real-time adaptability to the scene during the operation

Additionally, the 3-DOF configuration of the arm and the need for the surgeon to manipulate the arm with a force handle results in limited flexibility and dexterity of the robotic system, making it unsuitable for some MIS applications

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