Surgical system for guiding a robotic manipulator

Abstract

A surgical system includes a tool to engage a target site, a manipulator configured to support the tool, and a sensing system configured to detect one or more system conditions associated with one or more of the tool, the manipulator, the target site, or a combination thereof. A controller coupled to the manipulator and the sensing system is configured to operate the manipulator between a first mode to maintain alignment of the tool relative to the target site according to a first constraint criterion and a second mode to maintain alignment of the tool relative to the target site according to a second constraint criterion different from the first constraint criterion. The controller changes operation of the manipulator from the first mode to the second mode in response to determining that at least one of the one or more system conditions satisfies a predetermined condition.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and all benefits to U.S. Provisional Patent Application No. 62 / 908,915, filed October 1, 2019, the entire contents of which are hereby incorporated by reference. Background Technology

[0003] Robotic manipulators are frequently used to assist medical professionals in performing a variety of routine surgical procedures. For this purpose, surgeons can use surgical robots or other types of manipulators during surgery to guide, position, move, actuate, or otherwise manipulate various tools, components, prostheses, etc.

[0004] Surgical robots can assist surgeons in a variety of surgical procedures, and are commonly used in procedures involving the correction, resection, or replacement of degenerated joints to help improve patient mobility and reduce pain. As an illustrative example, in hip replacement surgery, surgeons replace a portion of a patient's hip joint with an artificial prosthetic component. For this purpose, in total hip replacement, surgeons typically remove a portion of the patient's femur to accommodate a prosthetic femoral component, including its head, and resurface the acetabulum of the pelvis using a reamer to facilitate the installation of a prosthetic cup shaped to receive the head of the prosthetic femoral component.

[0005] Depending on the specific procedure being performed, surgical robots can be used to assist surgeons in accessing surgical sites, removing portions of joints and / or bones, and installing prosthetic components. For example, to install a prosthetic cup into the acetabulum of the pelvis, the surgeon attaches the cup to an impactor to apply force (e.g., using a mallet) by striking the impactor to insert the cup into the prepared acetabulum. To facilitate cup installation, the surgical robot helps maintain the impactor aligned relative to the acetabulum, and the surgeon closely monitors the trajectory and depth of the cup during impaction to ensure proper alignment. Here, reaming or resection of the acetabulum typically defines the intended location of the cup, which in turn defines the trajectory of the impact, which can be monitored via a tracker attached to the pelvis and tracked by a navigation system.

[0006] Depending on the configuration of the prosthetic components, impact tools, and surgical robot, maintaining a set trajectory can be difficult using certain approaches and surgical techniques. Misalignment of the cup or other prosthetic components is often caused by improper alignment and / or the application of impact forces. Furthermore, when the cup is implanted into a reamed acetabulum, the patient's body is effectively physically attached to the impactor and surgical robot with one or more degrees of freedom. Here, because the surgical robot typically restricts the impactor's movement relative to the trajectory based on a tracker fastened to the pelvis, misalignment that may occur between the cup and the trajectory during impact can sometimes lead to an "escape" condition, where the impactor and pelvis move simultaneously, as the surgical robot attempts to bring the impactor tool back to alignment with the trajectory. Due to the physical connection between the surgical robot and the pelvis, this type of "escape" condition can result in undesirable movement of the patient and / or dislocation of the implanted or partially implanted cup.

[0007] Similar “escape” conditions can occur during other surgical procedures employing different types of tools guided by surgical robots. By way of non-limiting example, tools including electrically powered surgical devices can be used to drive energy applicators configured to remove tissue at the surgical site. Here, under certain operating conditions, the energy applicator can engage tissue in a way that effectively creates a locking condition between the energy applicator and the tissue. For example, a rotating instrument driving a drill or bone drill may become misaligned or stuck in the bone when creating a guide hole in the pedicle of a vertebra in the spine. Here, similarly, “escape” conditions can also lead to undesirable movement of the patient and / or the energy applicator against the tissue, such as bone-engaging tissue.

[0008] Therefore, there is still a need in this field to address one or more of these deficiencies. Summary of the Invention

[0009] The present invention provides a simplified description of some concepts that will be further described in the following detailed embodiments. This invention is not intended to limit the scope of the claimed subject matter, nor does it necessarily identify every key or essential feature of the claimed subject matter.

[0010] According to a first aspect, a surgical system is provided, comprising: a tool for engaging a target site; a manipulator configured to support the tool; a sensing system configured to detect one or more system conditions associated with one or more of the tool, the manipulator, the target site, or combinations thereof; and a controller coupled to the manipulator and the sensing system, the controller being configured to operate the manipulator between: a first mode for maintaining alignment of the tool relative to the target site according to a first constraint criterion; and a second mode for maintaining alignment of the tool relative to the target site according to a second constraint criterion different from the first constraint criterion; and wherein the controller is further configured to change operation of the manipulator from the first mode to the second mode in response to determining that at least one of the one or more system conditions satisfies a predetermined condition.

[0011] According to the second aspect, a method for operating the surgical system of the first aspect is provided.

[0012] According to a third aspect, a surgical system is provided, comprising: a tool for engaging a target site along a trajectory; a manipulator configured to support the tool; at least one sensor configured to obtain a measurement indicating a force occurring between the target site and the manipulator; and a controller coupled to the manipulator and the at least one sensor, the controller being configured to operate the manipulator between: a first mode for maintaining alignment of the tool relative to the trajectory according to a first constraint criterion; and a second mode for maintaining alignment of the tool relative to the trajectory according to a second constraint criterion different from the first constraint criterion; and wherein the controller is further configured to change the operation of the manipulator from the first mode to the second mode in response to determining that the force satisfies a predetermined condition.

[0013] According to the fourth aspect, a method for operating the surgical system of the third aspect is provided.

[0014] According to a fifth aspect, a surgical system is provided, comprising: a tool for engaging a target site; a manipulator configured to support the tool relative to the target site; a patient tracker adapted to attach relative to the target site; a navigation system configured to track the state of the patient tracker; and a controller coupled to the manipulator and the navigation system, the controller being configured to operate the manipulator between: a first mode for maintaining alignment of the tool relative to the target site according to a first constraint criterion; and a second mode for maintaining alignment of the tool relative to the target site according to a second constraint criterion different from the first constraint criterion; wherein the controller is further configured to compare a tracked movement of the tool with a movement of the patient tracker based on a tracked state received from the navigation system; and wherein the controller is further configured to change the operation of the manipulator from the first mode to the second mode in response to determining that the tracked movement of the tool corresponds to a movement of the patient tracker.

[0015] According to the sixth aspect, a method for operating the surgical system of the fifth aspect is provided.

[0016] According to a seventh aspect, a method of operating a surgical system is provided, the surgical system comprising: an impactor assembly having an interface for releasably securing a prosthesis; a guide having a channel formed to receive the impactor assembly; a manipulator configured to support the guide along a trajectory relative to a target site; at least one sensor; and a controller coupled to the manipulator and the at least one sensor and configured to perform the following steps: operating the manipulator in a first mode to maintain the alignment of the guide relative to the trajectory according to a first constraint criterion; operating the manipulator in a second mode to maintain the alignment of the guide relative to the trajectory according to a second constraint criterion different from the first constraint criterion; detecting a force occurring between the target site and the manipulator based on measurements from the at least one sensor; and determining that the force satisfies a predetermined condition and, in response, changing the operation of the manipulator from the first mode to the second mode.

[0017] According to a seventh aspect, a surgical system is provided, comprising: a tool for engaging a target site; a manipulator configured to support the tool; a sensing system configured to detect one or more system conditions associated with one or more of the tool, the manipulator, the target site, or combinations thereof; and a controller coupled to the manipulator and the sensing system, the controller being configured to: operate the manipulator to maintain the alignment of the tool relative to the target site according to a first constraint criterion; and, in response to detecting the one or more system conditions, operate the manipulator to maintain the alignment of the tool relative to the target site according to a second constraint criterion different from the first constraint criterion.

[0018] According to the eighth aspect, a method for operating the surgical system of the seventh aspect is provided.

[0019] According to a ninth aspect, a surgical system is provided, comprising: a tool for engaging a target site along a trajectory; a manipulator configured to support the tool; at least one sensor configured to acquire a measurement indicating a force occurring between the target site and the manipulator; and a controller coupled to the manipulator and the at least one sensor, the controller being configured to: operate the manipulator to maintain the alignment of the tool relative to the trajectory according to a first constraint criterion; evaluate the acquired measurement indicating the force; and, in response to the evaluation, operate the manipulator to maintain the alignment of the tool relative to the trajectory according to a second constraint criterion different from the first constraint criterion.

[0020] According to the tenth aspect, a method for operating the surgical system of the ninth aspect is provided.

[0021] According to an eleventh aspect, a surgical system is provided, comprising: a tool for engaging a target site; a manipulator configured to support the tool relative to the target site; a patient tracker adapted to attach relative to the target site; a navigation system configured to track the state of the patient tracker; and a controller coupled to the manipulator and the navigation system, the controller being configured to: operate the manipulator to maintain the alignment of the tool relative to the target site according to a first constraint criterion; evaluate a tracked movement of the tool relative to the patient tracker based on a tracked state of the patient tracker received from the navigation system; and, in response to the evaluation, operate the manipulator to maintain the alignment of the tool relative to the target site according to a second constraint criterion different from the first constraint criterion.

[0022] According to the twelfth aspect, a method for operating the surgical system of the eleventh aspect is provided.

[0023] According to a thirteenth aspect, a surgical system is provided, comprising: a tool for engaging a target site; a manipulator configured to support the tool relative to the target site; a patient tracker adapted to attach relative to the target site; a navigation system configured to track the state of the patient tracker; and a controller coupled to the manipulator and the navigation system, the controller being configured to: operate the manipulator to constrain movement of the tool relative to a virtual boundary associated with the target site according to a first constraint criterion; evaluate tracked movement of the tool relative to the patient tracker based on a tracked state of the patient tracker received from the navigation system; and, in response to the comparison, operate the manipulator to constrain movement of the tool relative to the virtual boundary according to a second constraint criterion different from the first constraint criterion.

[0024] According to the fourteenth aspect, a method for operating the surgical system of the thirteenth aspect is provided.

[0025] Any of the above aspects can be combined partially or completely. Furthermore, any of the above aspects can be implemented through any of the following methods:

[0026] In one embodiment, the first constraint criterion includes a first number of degrees of freedom in which the movement of the tool relative to the target part is restricted. In one embodiment, the second constraint criterion includes a second number of degrees of freedom in which the movement of the tool relative to the target part is restricted. In one embodiment, the second number of degrees of freedom is different from the first number of degrees of freedom. In one embodiment, the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the alignment of the tool relative to the target part based on the first number of degrees of freedom; and a second mode to maintain the alignment of the tool relative to the target part based on the second number of degrees of freedom.

[0027] In one embodiment, the second number of degrees of freedom is less than the first number of degrees of freedom, such that the controller allows the tool to move relative to the target location in at least one more degree of freedom in the second mode than in the first mode. In one embodiment, the first constraint criterion includes at least one positional degree of freedom and at least one orientational degree of freedom. In one embodiment, the first constraint criterion and the second constraint criterion each include at least one orientational degree of freedom. In one embodiment, the first constraint criterion includes at least one more positional degree of freedom than the second constraint criterion. In one embodiment, the first constraint criterion and the second constraint criterion include at least one common degree of freedom.

[0028] In one embodiment, the first constraint criterion includes a first elasticity parameter, and the second constraint criterion includes a second elasticity parameter different from the first elasticity parameter. In one embodiment, the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the tool's alignment relative to the target location based on the first elasticity parameter; and a second mode to maintain the tool's alignment relative to the target location based on the second elasticity parameter. In one embodiment, the controller allows for greater elastic movement of the tool relative to the target location in the second mode than in the first mode. In one embodiment, the first elasticity parameter and the second elasticity parameter are each associated with elastic movement of the tool relative to the target location in a common degree of freedom.

[0029] In one embodiment, the tool defines a tool center point. In another embodiment, the controller is configured to operate the manipulator in a first mode to limit the movement of the tool center point away from the target location according to a first constraint criterion.

[0030] In one implementation, the controller is configured to operate the manipulator in a second mode to allow movement of the tool center point away from the target location according to a second constraint criterion.

[0031] In one implementation, a mode indicator is coupled to a controller. In another implementation, the controller is configured to activate the mode indicator in response to determining that at least one of one or more system conditions meets a predetermined condition, thereby communicating to the user a change in the operation of the manipulator from a first mode to a second mode.

[0032] In one embodiment, the controller is configured to operate the manipulator in a first mode to allow the tool to move relative to the target part in at least one degree of freedom according to a first constraint criterion.

[0033] In one embodiment, the controller is configured to operate the manipulator in a second mode to allow the tool to move relative to the target part in at least one degree of freedom according to a second constraint criterion.

[0034] In one embodiment, the controller is further configured to operate the manipulator in a third mode to maintain the tool's alignment relative to the target location according to a third constraint criterion different from both the first and second constraint criteria. In one embodiment, the predetermined condition is further defined as a first predetermined condition. In one embodiment, the controller is further configured to change the operation of the manipulator from a second mode to a third mode in response to determining that at least one of one or more system conditions satisfies a second predetermined condition different from the first predetermined condition.

[0035] In one embodiment, the first constraint criterion includes a first number of degrees of freedom in which the movement of the tool relative to the target part is restricted. In one embodiment, the second constraint criterion includes a second number of degrees of freedom in which the movement of the tool relative to the target part is restricted. In one embodiment, the third number of degrees of freedom is different from one or more of the first number of degrees of freedom and the second number of degrees of freedom; and the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the alignment of the tool relative to the target part based on the first number of degrees of freedom; a second mode to maintain the alignment of the tool relative to the target part based on the second number of degrees of freedom; and a third mode to maintain the alignment of the tool relative to the target part based on the third number of degrees of freedom.

[0036] In one embodiment, the first constraint criterion further includes a first elastic parameter. In one embodiment, the second constraint criterion further includes a second elastic parameter. In one embodiment, the third constraint criterion further includes a third elastic parameter that is different from one or more of the first and second elastic parameters. In one embodiment, the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the alignment of the tool relative to the target part based on a first number of degrees of freedom and also based on the first elastic parameter; a second mode to maintain the alignment of the tool relative to the target part based on a second number of degrees of freedom and also based on the second elastic parameter; and a third mode to maintain the alignment of the tool relative to the target part based on a third number of degrees of freedom and also based on the third elastic parameter.

[0037] In one embodiment, the third number of degrees of freedom is less than the first number of degrees of freedom, such that the controller in the third mode allows the tool to move relative to the target part in at least one more degree of freedom than in the first mode. In one embodiment, the third number of degrees of freedom is less than the second number of degrees of freedom, such that the controller in the third mode allows the tool to move relative to the target part in at least one more degree of freedom than in the second mode. In one embodiment, the first constraint criterion and the second constraint criterion each include at least one positional degree of freedom and at least one orientational degree of freedom. In one embodiment, the first constraint criterion, the second constraint criterion, and the third constraint criterion each include at least one orientational degree of freedom. In one embodiment, the first constraint criterion includes at least one more positional degree of freedom than the third constraint criterion. In one embodiment, the second constraint criterion includes at least one more positional degree of freedom than the third constraint criterion. In one embodiment, the controller in the second mode allows for a greater elastic movement of the tool relative to the target part than in the first mode. In one embodiment, the controller in the second mode allows for a greater elastic movement of the tool relative to the target part than in the third mode.

[0038] In one embodiment, the first constraint criterion includes a first elastic parameter, the second constraint criterion includes a second elastic parameter, and the third constraint criterion includes a third elastic parameter that is different from one or more of the first and second elastic parameters; and wherein the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the alignment of the tool relative to the target part based on the first elastic parameter; a second mode to maintain the alignment of the tool relative to the target part based on the second elastic parameter; and a third mode to maintain the alignment of the tool relative to the target part based on the third elastic parameter.

[0039] In one embodiment, the sensing system includes at least one sensor configured to acquire a measurement indicating a force occurring between a target location and a manipulator; and wherein the measurement indicating the force acquired by the at least one sensor defines at least one of one or more system conditions, such that a controller is configured to: change the operation of the manipulator from a first mode to a second mode in response to determining that the force detected by the at least one sensor satisfies a first predetermined condition; and change the operation of the manipulator from the second mode to a third mode in response to determining that the force detected by the at least one sensor satisfies a second predetermined condition. In one embodiment, the first predetermined condition is defined by a first force detected by the at least one sensor, the second predetermined condition is defined by a second force detected by the at least one sensor, and the second force is greater than the first force.

[0040] In one embodiment, the patient tracker is adapted to attach relative to a target site. In one embodiment, the sensing system includes a navigation system configured to track the state of the patient tracker. In one embodiment, the tracked state of the patient tracker defines at least one of one or more system conditions, such that a controller is configured to change the operation of a manipulator from a first mode to a second mode in response to determining that the tracked state of the patient tracker meets predetermined conditions. In one embodiment, the controller is further configured to compare the tracked movement of a tool with the movement of the patient tracker based on the tracked state received from the navigation system. In one embodiment, the tracked movement of the tool defines at least one of one or more system conditions. In one embodiment, the predetermined conditions are defined based on the tracked movement of the tool corresponding to the tracked state of the patient tracker.

[0041] In one embodiment, the sensing system includes at least one sensor configured to obtain a measurement indicating a force occurring between a target location and a manipulator. In another embodiment, the force measurement obtained by the at least one sensor defines at least one of one or more system conditions, such that a controller is configured to change the operation of the manipulator from a first mode to a second mode in response to determining that the force detected by the at least one sensor satisfies a predetermined condition.

[0042] In one embodiment, the controller is further configured to operate the manipulator in a first mode to resist movement of the tool relative to the target site, wherein the elasticity increases as a measurement of the force obtained by at least one sensor increases toward a predetermined condition. In one embodiment, the tool includes a guide having a channel formed to receive an impactor assembly and allow limited movement of the impactor assembly relative to the guide, the impactor assembly having an interface for releasably securing the prosthesis. In one embodiment, the manipulator is configured to support the guide along a trajectory relative to the target site when the impactor assembly is received in the channel of the guide and when the prosthesis is secured to the impactor assembly. In one embodiment, the target site is further defined as an acetabular cup. In one embodiment, at least one sensor is configured to detect forces arising from forces applied to the impactor assembly to mount the prosthesis in the acetabular cup. In one embodiment, the controller is further configured to infer a torque applied to the acetabular cup based on the detected force. In one embodiment, the controller is further configured to change the operation of the manipulator from a first mode to a second mode in response to determining that the inferred torque applied to the acetabular cup satisfies a predetermined condition.

[0043] In one embodiment, at least one sensor is further defined as one or more of the following: a force-torque transducer; a joint actuator current sensor; a joint force sensor; a joint torque sensor; and a joint encoder.

[0044] In one embodiment, the first constraint criterion includes a first number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory. In one embodiment, the second constraint criterion includes a second number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory. In one embodiment, the second number of degrees of freedom is different from the first number of degrees of freedom. In one embodiment, the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the alignment of the tool relative to the trajectory based on the first number of degrees of freedom; and a second mode to maintain the alignment of the tool relative to the trajectory based on the second number of degrees of freedom.

[0045] In one embodiment, the second number of degrees of freedom is less than the first number of degrees of freedom, such that the controller allows the tool to move in at least one more degree of freedom relative to the trajectory in the second mode than in the first mode. In one embodiment, the first constraint criterion includes at least one positional degree of freedom and at least one orientational degree of freedom. In one embodiment, the first constraint criterion and the second constraint criterion each include at least one orientational degree of freedom. In one embodiment, the first constraint criterion includes at least one more positional degree of freedom than the second constraint criterion. In one embodiment, the first constraint criterion and the second constraint criterion include at least one common degree of freedom.

[0046] In one embodiment, the first constraint criterion includes a first elastic parameter, and the second constraint criterion includes a second elastic parameter different from the first elastic parameter. In one embodiment, the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the alignment of the tool relative to the trajectory based on the first elastic parameter; and a second mode to maintain the alignment of the tool relative to the trajectory based on the second elastic parameter.

[0047] In one implementation, the controller allows for greater elastic movement of the tool relative to the trajectory in the second mode than in the first mode. In one implementation, the first elasticity parameter and the second elasticity parameter are each associated with elastic movement of the tool relative to the trajectory in a common degree of freedom.

[0048] In one embodiment, the controller is further configured to operate the manipulator in a first mode to resist movement of the tool relative to the trajectory, wherein the elasticity increases as the force measurement obtained by at least the sensor increases toward a predetermined condition.

[0049] In one embodiment, the tool defines a tool center point, and the controller is configured to operate the manipulator in a first mode to restrict movement of the tool center point away from the trajectory according to a first constraint criterion. In another embodiment, the controller is configured to operate the manipulator in a second mode to allow movement of the tool center point away from the trajectory according to a second constraint criterion.

[0050] In one implementation, a mode indicator is coupled to a controller, and the controller is configured to activate the mode indicator in response to determining that a force measurement obtained by at least one sensor meets predetermined conditions, so as to communicate to the user a change in the operation of the manipulator from a first mode to a second mode.

[0051] In one implementation, the controller is configured to operate the manipulator in a first mode to allow the tool to move relative to the trajectory in at least one degree of freedom, according to a first constraint criterion.

[0052] In one implementation, the controller is configured to operate the manipulator in a second mode to allow the tool to move relative to the trajectory in at least one degree of freedom, according to a second constraint criterion.

[0053] In one embodiment, the controller is further configured to operate the manipulator in a third mode to maintain the tool's alignment with the trajectory according to a third constraint criterion different from both the first and second constraint criteria. In one embodiment, the predetermined condition is further defined as a first predetermined condition. In one embodiment, the controller is further configured to change the operation of the manipulator from a second mode to a third mode in response to determining that a measurement result indicating that a force obtained from at least one sensor satisfies a second predetermined condition different from the first predetermined condition. In one embodiment, the first predetermined condition is defined by a first force detected by the measurement result obtained from at least one sensor, the second predetermined condition is defined by a second force detected by the measurement result obtained from at least one sensor, and the second force is greater than the first force. In one implementation, the first constraint criterion includes a first number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory; the second constraint criterion includes a second number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory; and the third constraint criterion includes a third number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory, the third number of degrees of freedom being different from one or more of the first number of degrees of freedom and the second number of degrees of freedom; and wherein the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the alignment of the tool relative to the trajectory based on the first number of degrees of freedom; a second mode to maintain the alignment of the tool relative to the trajectory based on the second number of degrees of freedom; and a third mode to maintain the alignment of the tool relative to the trajectory based on the third number of degrees of freedom.

[0054] In one embodiment, the first constraint criterion further includes a first elastic parameter, the second constraint criterion further includes a second elastic parameter, and the third constraint criterion further includes a third elastic parameter that is different from one or more of the first and second elastic parameters; and wherein the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the alignment of the tool relative to the trajectory based on a first number of degrees of freedom and also based on the first elastic parameter; a second mode to maintain the alignment of the tool relative to the trajectory based on a second number of degrees of freedom and also based on the second elastic parameter; and a third mode to maintain the alignment of the tool relative to the trajectory based on a third number of degrees of freedom and also based on the third elastic parameter.

[0055] In one implementation, the third number of degrees of freedom is less than the first number of degrees of freedom, such that the controller in the third mode allows the tool to move in at least one more degree of freedom relative to the trajectory than in the first mode. In another implementation, the third number of degrees of freedom is less than the second number of degrees of freedom, such that the controller in the third mode allows the tool to move in at least one more degree of freedom relative to the trajectory than in the second mode.

[0056] In one embodiment, the first constraint criterion and the second constraint criterion each include at least one positional degree of freedom and at least one orientational degree of freedom. In one embodiment, the first constraint criterion, the second constraint criterion, and the third constraint criterion each include at least one orientational degree of freedom. In one embodiment, the first constraint criterion includes at least one more positional degree of freedom than the third constraint criterion. In one embodiment, the controller allows for more flexible movement of the tool relative to the trajectory in the second mode than in the first mode. In one embodiment, the controller allows for more flexible movement of the tool relative to the trajectory in the second mode than in the third mode.

[0057] In one embodiment, the first constraint criterion includes a first elastic parameter, the second constraint criterion includes a second elastic parameter, and the third constraint criterion includes a third elastic parameter that is different from one or more of the first and second elastic parameters. In one embodiment, the controller is further configured to operate the manipulator in the following modes: a first mode to maintain the tool's alignment relative to the trajectory based on the first elastic parameter; a second mode to maintain the tool's alignment relative to the trajectory based on the second elastic parameter; and a third mode to maintain the tool's alignment relative to the trajectory based on the second elastic parameter.

[0058] In one embodiment, the patient tracker is adapted to be attached relative to a target site, and a navigation system is configured to track the state of the patient tracker; and wherein a controller is coupled to the navigation system and further configured to define a trajectory based on the tracked state of the patient tracker received from the navigation system.

[0059] In one embodiment, the tool includes a guide with a channel formed to receive an impactor assembly and allow limited movement of the impactor assembly relative to the guide, the impactor assembly having an interface for releasably securing a prosthesis. In one embodiment, a manipulator is configured to support the guide relative to a target site.

[0060] In one embodiment, the manipulator is configured to support the guide relative to a target site when the impactor assembly is received in the channel of the guide and when the prosthesis is fastened to the impactor assembly, wherein the target site is further defined as an acetabular cup. In one embodiment, at least one sensor is configured to obtain a measurement indicating a force resulting from the force applied to the impactor assembly to mount the prosthesis in the acetabular cup. In one embodiment, the controller is further configured to infer a torque applied to the acetabular cup based on the detected force. In one embodiment, the controller is further configured to change the operation of the manipulator from a first mode to a second mode in response to determining that the inferred torque applied to the acetabular cup satisfies a predetermined condition.

[0061] In one implementation, the controller is configured to determine the parameters of the second constraint criterion based on the system conditions detected from the sensing system.

[0062] In one implementation, the controller is configured to determine the parameters of the second constraint criterion based on the obtained measurement results of the indicated force.

[0063] In one implementation, the controller is configured to determine the parameters of the second constraint criterion based on the evaluated tracked movement.

[0064] Any of the above-described embodiments can be used in any of the above aspects. Any of the above-described embodiments can be combined, either wholly or partially, for any one or more of the above aspects.

[0065] Other features and advantages of this disclosure will become readily apparent and better understood after reading the following description in conjunction with the accompanying drawings. Attached Figure Description

[0066] Figure 1This is a perspective view of a surgical system that includes a manipulator, a navigation system, and tools for engaging a target site. One of the tools is shown as an electric surgical device with a drive energy applicator, and another of the tools is shown as an impactor assembly with an impactor attached to a prosthesis and supported along a trajectory by a guide attached to the manipulator.

[0067] Figure 2 It is used for control Figure 1 A block diagram of the control system of the surgical system.

[0068] Figure 3 yes Figure 2 Functional block diagram of the software program for the control system.

[0069] Figure 4 This is an example diagram of the target area realized as the acetabulum, depicting... Figure 3 The output of the boundary generator in the software program.

[0070] Figure 5 yes Figure 4 An example diagram of the target area, depicting... Figure 3 The output of the path generator in the software program.

[0071] Figure 6 The target area and Figure 1 An example diagram from one of the tools depicts the virtual constraints of a surgical system.

[0072] Figure 7 It is possible to be Figure 2 A block diagram of the modules that operate the control system.

[0073] Figure 8 Depicting Figure 2 The sample constraint equations of the control system.

[0074] Figure 9 Describing for use Figure 2 The control system implements a virtual simulation sample forward dynamics algorithm.

[0075] Figure 10 Describing for implementation Figure 9 A set of exemplary steps of the forward dynamics algorithm.

[0076] Figure 11 Depicting by Figure 2 The control system implements a set of exemplary steps to solve constraints, perform forward dynamics, and determine command posture.

[0077] Figure 12 yes Figure 1An illustrative schematic diagram of a tool, shown as supporting an energy applicator along an axis aligned with the trajectory of a target region, wherein the energy applicator is shown spaced apart from the target region.

[0078] Figure 13A yes Figure 12 Another illustrative diagram of the tool, energy applicator, and target site, showing the energy applicator engaging the target site along a trajectory.

[0079] Figure 13B yes Figure 13A Another illustrative diagram of the tool, energy applicator, and target site, showing the energy applicator advancing along a trajectory and engaging more deeply into the target site.

[0080] Figure 14A yes Figure 13B Another illustrative diagram of the tool, energy applicator, and target area shows the energy applicator encountering rotational resistance about an axis when engaging with the target area.

[0081] Figure 14B yes Figure 14A Another illustrative schematic diagram of the tool, energy applicator, and target area, showing the energy applicator responding to... Figure 14A The illustrated rotational resistance engages the target location misaligned relative to the trajectory, with the tool and energy applicator arranged in an exaggeratedly misaligned manner relative to the trajectory to illustrate the escape conditions.

[0082] Figure 14C yes Figure 14B Another illustrative schematic diagram of the tool, energy applicator, and target area, showing the tool moving away from the support surface together with the energy applicator and target area to illustrate... Figure 1 Escape conditions when the manipulator attempts to align the tool with the trajectory defined by the target part.

[0083] Figure 14D yes Figure 14C Another illustrative schematic diagram of the tool, energy applicator, and target area, showing the tool moving further away from the support surface together with the energy applicator and target area to illustrate... Figure 1 The manipulator continues to attempt to align the tool with the trajectory defined by the target part when the escape condition is met.

[0084] Figure 15 yes Figure 1 A partial perspective view of a surgical system, depicting a tool including a guide and an impactor assembly supporting a prosthesis spaced apart from a trajectory defined by a target site monitored by a navigation system via a tracker.

[0085] Figure 16A yes Figure 15 A perspective view of an impactor assembly shown having an interface spaced apart from the prosthesis, wherein an axis extends between the interface and a flange arranged adjacent to a shank extending between the flange and the head.

[0086] Figure 16B yes Figure 16A Exploded perspective view of the impactor components.

[0087] Figure 17A yes Figure 15 A perspective view of the guide component.

[0088] Figure 17B yes Figure 17A A partially exploded perspective view of the guide, which is shown as a body including a defining channel.

[0089] Figure 18 yes Figures 15 to 17B An illustrative schematic diagram of a prosthesis and tool, wherein a guide is shown defining a guide axis aligned with the trajectory of the target site, and wherein an impactor assembly is shown attached to the prosthesis and spaced apart from both the target site and the guide.

[0090] Figure 19A yes Figure 18 Another illustrative diagram of the tool, prosthesis, and target site shows the prosthesis and impactor assembly positioned adjacent to the target site, wherein the flange of the impactor assembly is supported in the channel of the guide, and the applied force acts on the guide.

[0091] Figure 19B yes Figure 19A Another illustrative diagram of the tool, prosthesis, and target area, showing the tool and prosthesis responding to... Figure 19A The illustrated force is applied and the object moves relative to the trajectory and the target location.

[0092] Figure 20A yes Figure 18 Another illustrative diagram of the tool, prosthesis, and target site shows the prosthesis and impactor assembly positioned adjacent to the target site, wherein the flange of the impactor assembly is supported in the channel of the guide, and the applied force acts substantially along the trajectory on the head of the impactor assembly.

[0093] Figure 20B yes Figure 20A Another illustrative diagram of the tool, prosthesis, and target area, showing the prosthesis responding to... Figure 20A The illustrated force is applied and implanted at the target site along the trajectory.

[0094] Figure 21A yes Figure 18Another illustrative diagram of the tool, prosthesis, and target site shows the prosthesis and impactor assembly positioned adjacent to the target site, wherein the flange of the impactor assembly is supported in the channel of the guide, and the applied force acts laterally to the head of the impactor assembly.

[0095] Figure 21B yes Figure 21A Another illustrative diagram of the tool, prosthesis, and target area, showing the prosthesis responding to... Figure 20A The illustrated example involves the application of force and implantation at the target site with misalignment relative to the trajectory, wherein the tool and prosthesis are arranged with exaggerated misalignment relative to the trajectory to illustrate the escape condition.

[0096] Figure 21C yes Figure 21B Another illustrative schematic diagram of the tool, prosthesis, and target site, showing the tool moving away from the support surface together with the implanted prosthesis and target site to illustrate... Figure 1 The escape conditions when the manipulator attempts to align the guide with the trajectory defined by the target part.

[0097] Figure 21D yes Figure 21C Another illustrative schematic diagram of the tool, prosthesis, and target site, showing the tool moving further away from the support surface together with the implanted prosthesis and target site to illustrate... Figure 1 The manipulator continues to attempt to align the guide with the trajectory defined by the target location when the escape conditions are met.

[0098] Figure 22A yes Figures 15 to 17B A perspective view of the guide, the impactor assembly supporting the prosthesis, and another portion of the target area, showing the prosthesis positioned at the target area and spaced apart from the guide connected to the manipulator.

[0099] Figure 22B yes Figure 22A Another perspective view of the guide, the impactor assembly supporting the prosthesis, and the target area, showing the guide connected to the manipulator having moved toward the trajectory, with the axis of the impactor assembly arranged within the channel of the guide.

[0100] Figure 22C yes Figure 22B Another perspective view of the guide, the impactor assembly supporting the prosthesis, and the target area, showing that the guide, which is connected to the manipulator, has moved along a trajectory to engage the flange of the impactor assembly with the channel of the guide.

[0101] Figure 23 yes Figure 22CAnother perspective view of the guide, the impactor assembly supporting the prosthesis, and the target area, showing that the guide, which is connected to the manipulator, has rotated around the trajectory in one degree of rotational freedom from its previous arrangement, which is depicted in dashed lines.

[0102] Figure 24A yes Figure 22B Another perspective view of the guide, the impactor assembly supporting the prosthesis, and the target area, showing the guide connected to the manipulator arranged along a trajectory, wherein the flange of the impactor assembly is configured to engage with the channel of the guide, and the applied force acts laterally across the trajectory on the head of the impactor assembly.

[0103] Figure 24B yes Figure 24A Another perspective view of the guide, the impactor assembly supporting the prosthesis, and the target area, showing the prosthesis responding to... Figure 24A The illustrated force is applied and partially implanted at the target site and misaligned with the trajectory, wherein the tool and prosthesis are arranged in an exaggeratedly misaligned manner relative to the trajectory and relative to the previous arrangement depicted in dashed lines.

[0104] Figure 24C yes Figure 24B Another perspective view of the guide, the impactor assembly supporting the prosthesis, and the target area, showing the prosthesis responding to... Figure 24A The illustrated force is applied and partially implanted at the target site and further misaligned with the trajectory, wherein the tool and prosthesis are arranged with further exaggerated misalignment relative to the trajectory.

[0105] Figure 25 This describes a sensing system, controller, and [other components] according to embodiments of the present disclosure. Figure 1 A block diagram illustrating the interactions between the manipulators.

[0106] Figure 26 An example of an escape condition that occurs when the bone drill gets trapped between the virtual boundary and the target bone.

[0107] Certain parts, structural features and / or components of any one or more embodiments depicted throughout the accompanying drawings may be omitted, schematically depicted and / or shown in dashed lines for illustrative purposes. Detailed Implementation

[0108] Now for reference Figure 1This illustration shows a surgical system 100 including a robotic manipulator 102 with supporting tools 104. The surgical system 100 can be used to treat an anatomical volume or target site TS of a patient P's body B, such as bone or soft tissue. For this purpose, the manipulator 102 typically includes a base 106, a robotic arm 108, and a coupling 110. The robotic arm 108 is supported by the base 106 and configured to move, maintain, or otherwise control the position and / or orientation of the coupling 110 relative to the base 106 during use. The coupling 110 is adapted to releasably secure one or more types of tools 104, which in turn typically support or otherwise include instruments 112 used in conjunction with various types of surgical procedures. In some embodiments, the instruments 112 may be configured to support, drive, rotate, oscillate, vibrate, and / or otherwise direct energy to an energy applicator 114 (e.g., a drill, tap, bone drill, blade, saw, reamer, etc.) for treatment at or near the target site TS. In some embodiments, the device 112 may be configured to support, position, align, and / or guide an implantable component 116 (e.g., a cup, handle, screw, pin, rod, wire, anchor, prosthesis, etc.) at or relative to a target site TS (such as along a trajectory T maintained by the manipulator 102).

[0109] exist Figure 1In the illustration, patient P is undergoing an exemplary surgical procedure in which the target site TS comprises or is otherwise defined by the patient's hip and femur. However, this disclosure contemplates various types of surgical procedures, including but not limited to those involving partial or total knee or hip replacement surgery, shoulder replacement surgery, spinal surgery, foot and ankle surgery, etc. Surgical procedures may involve tissue removal or other forms of treatment (e.g., cutting, drilling, reaming, coagulation, lesioning, other in situ tissue treatments, etc.). In some embodiments, surgical system 100 may be designed to facilitate the removal of material to be replaced by an implantable component 116 (also referred to as an "implant") (such as hip and knee implants, including single-chamber, dual-chamber, multi-chamber, or total knee implants). Some types of implantable components 116 are illustrated in U.S. Patent No. 9,381,085 entitled "Prosthetic Implant and Method of Implantation," the disclosure of which is hereby incorporated by reference in its entirety. However, and as will be understood from the following description, other configurations are envisioned, and the surgical system 100 can be used in conjunction with a variety of different surgical procedures, and various types, styles, and configurations of manipulators 102, tools 104, instruments 112, energy applicators 114, and / or implantable components 116 can be employed without departing from the scope of this disclosure. Furthermore, the surgical system 100 and the techniques disclosed herein can be used to perform other surgical or non-surgical procedures, or for industrial or other applications in which robotic systems are utilized.

[0110] Manipulator 102 (also referred to as a “surgical robot”) moves tool 104 relative to target site TS and relative to base 106 via robotic arm 108 to assist medical professionals in performing various types of surgical procedures with precise control over the movement and positioning of tool 104, instruments 112, energy applicator 114, and / or implantable component 116, among other things. As noted above, manipulator 102 typically includes base 106, robotic arm 108, and connector 110. Base 106 is attached to manipulator trolley 118 and supports robotic arm 108, which is in turn configured to move, maintain, or otherwise control the position and / or orientation of connector 110 relative to base 106 during use. Figure 1The illustrated robotic arm 108 includes a plurality of links 120 and joints J arranged in a tandem arm configuration. However, the manipulator 102 may be configured differently without departing from the scope of this disclosure. By way of non-limiting example, the manipulator 102 may have a parallel arm configuration or any other suitable configuration. In some embodiments, a multi-arm configuration may utilize more than one manipulator 102. An exemplary arrangement of the robotic arm 108 is described in U.S. Patent No. 9,119,655 entitled “Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes,” the disclosure of which is hereby incorporated by reference in its entirety. The robotic arm 108 and other portions of the manipulator 102 may be arranged in a variety of different configurations without departing from the scope of this disclosure.

[0111] exist Figure 1 In the example shown, the manipulator 102 includes a plurality of joint encoders 122 located at joint J for determining position data of joint J. For simplicity, Figure 1 The label indicates only one joint encoder 122, but other joint encoders 122 may be similarly illustrated. In the representative embodiment illustrated herein, the robotic arm 108 has six joints J1, J2, J3, J4, J5, J6 that realize at least six degrees of freedom (DOF) of the manipulator 102. However, the manipulator 102 may have any suitable number of degrees of freedom, any suitable number of joints J, and may have redundant joints J. The manipulator 102 does not require joint encoders 122, but may alternatively or additionally utilize motor encoders present on the motors at each joint J. Furthermore, the manipulator 102 does not require rotary joints, but may alternatively or additionally utilize one or more prismatic joints. Any suitable combination of joint types is contemplated.

[0112] Surgical system 100 is capable of monitoring, tracking, and / or determining changes in the relative position and / or orientation of one or more parts of manipulator 102, robotic arm 108, tool 104, instrument 112, energy applicator 114, and / or implantable component 116, as well as various parts of the patient's body B, in a common coordinate system by utilizing various types of trackers (e.g., multi-degree-of-freedom optical, inertial, and / or ultrasonic sensing devices), navigation systems (e.g., machine vision systems, charge-coupled device cameras, tracker sensors, surface scanners, and / or rangefinders), anatomical computer models (e.g., magnetic resonance imaging scans of the anatomical structures of patient P), data from previous surgical procedures and / or previously performed surgical techniques (e.g., data recorded during previous steps of the surgical procedure), etc. For these purposes, and as... Figure 1The surgical system 100 is schematically depicted employing a control system 124 (also referred to as "controller" 124), which may include or communicate with one or more of a robot control system 126, a navigation system 128, and a tool control system 130. These systems cooperate to facilitate the positioning, movement, and / or driving of the tool 104 relative to a target site TS and other parts of the surgical system 100 via a manipulator 102, as described in more detail below. Exemplary control methods are described in U.S. Patent No. 10,327,849 entitled "Robotic System and Method for Backdriving the Same," the disclosure of which is hereby incorporated by reference in its entirety.

[0113] The base 106 or another portion of the manipulator 102 typically provides a fixed reference coordinate system for other components of the manipulator 102 and / or other components of the surgical system 100. Typically, the origin of the manipulator coordinate system MNPL is defined at a fixed reference point on the base 106. The base 106 may be defined relative to any suitable portion of the manipulator 102, such as one or more of the links 120. Alternatively or additionally, the base 106 may be defined relative to the manipulator trolley 118, such as when the manipulator 102 is physically attached to the trolley 118. In some embodiments, the base 106 is defined at the intersection of the axis of joint J1 and the axis of joint J2. Thus, although joints J1 and J2 are actually moving parts, the intersection of the axes of joints J1 and J2 remains a virtual fixed reference pose that provides a fixed position and orientation reference and does not move relative to the manipulator 102 and / or the manipulator trolley 118. In some embodiments, the manipulator 102 may be handheld, such that a base 106 is defined by a base portion of the tool (e.g., a portion held by the user's hand), the tool having a tool tip (e.g., an end effector) movable relative to the base portion. In this embodiment, the base portion has a tracked reference coordinate system, and the tool tip has a tool tip coordinate system calculated relative to the reference coordinate system (e.g., calculated via motor and / or joint encoders and forward kinematics). Since the posture of the tool tip relative to the path can be determined, the movement of the tool tip can be controlled to follow the path. An example of this type of handheld manipulator 102 is shown in U.S. Patent No. 9,707,043 entitled "Surgical Instrument Including Housing, A Cutting Accessory that Extends from the Housing and Actuators that Establish the Position of the Cutting Accessory Relative to the Housing," the disclosure of which is hereby incorporated by reference in its entirety. The foregoing is a non-limiting illustrative example, and other configurations are contemplated herein.

[0114] like Figure 1 The diagram schematically depicts a robot control system 126 including a manipulator controller 132, a navigation system 128 including a navigation controller 134, and a tool control system 130 including a tool controller 136. In the illustrated embodiment, the manipulator controller 132, navigation controller 134, and tool controller 136 are typically configured such that they are connected via physical electrical connections (e.g., tethered wire harnesses) and / or via one or more types of wireless communication (e.g., utilizing WiFi). TMnetwork, The surgical system 100 may communicate with each other (e.g., directly or indirectly) and / or with other components of the surgical system 100 via radio networks, etc. The manipulator controller 132, navigation controller 134, and / or tool controller 136 may be implemented as or together with various arrangements of computers, processors, control units, etc., and may include discrete components or be integrated (e.g., sharing hardware, software, inputs, outputs, etc.). Other configurations are contemplated.

[0115] Manipulator controller 132, navigation controller 134, and / or tool controller 136 may each be implemented as a computer having processor 138 (e.g., a central processing unit) and / or other processors, memory 140, and / or storage devices (not shown), and are typically loaded with software as described in more detail below. Processor 138 may include one or more processors for controlling the operation of manipulator 102, navigation system 128, or tool 104. Processor 138 may be any type of microprocessor, multiprocessor, and / or multicore processing system. Manipulator controller 132, navigation controller 134, and / or tool controller 136 may additionally or alternatively include one or more microcontrollers, field-programmable gate arrays, systems-on-a-chip, discrete circuitry, and / or other suitable hardware, software, and / or firmware capable of performing the functions described herein. The term "processor" is not intended to limit any implementation to a single processor. The robot control system 126, navigation system 128, and / or tool control system 130 may also include, define, or otherwise employ a user interface 142 having one or more output devices 144 (e.g., screen, display, status indicator, etc.) and / or input devices 146 (e.g., push-button, keyboard, mouse, microphone, voice activation device, gesture control device, touchscreen, foot pedal, pendant, etc.). Other configurations are contemplated.

[0116] As noted above, one or more tools 104 (sometimes referred to as “end effectors”) are releasably attached to the coupling 110 of the manipulator 102 and are movable relative to the base 106 to interact with the anatomy of the patient P (e.g., target site TS) in certain modes. Tools 104 can be gripped by a user (e.g., a surgeon). Tools 104 typically include a mounting 148 adapted for releasable attachment to the coupling 110 of the manipulator 102. The mounting 148 may support or otherwise define an instrument 112, which, in some embodiments, may be configured as an electrically powered surgical device 150 employing a power generation assembly 152 (e.g., a motor, actuator, gear train, etc.) for driving an energy applicator 114 attached thereto (e.g., via a chuck, coupling, etc.). An exemplary arrangement of this type of manipulator 102, tool 104, and instrument 112 is described in U.S. Patent No. 9,119,655, previously cited, entitled “Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes.” Manipulator 102, tool 104, and / or instrument 112 may be alternatively configured. In some embodiments, tool 104 and / or instrument 112 may be similar to that shown in U.S. Patent No. 9,566,121, entitled “End Effector of a Surgical Robotic Manipulator,” the disclosure of which is hereby incorporated by reference in its entirety. In some embodiments, tool 104 and / or instrument 112 may be similar to that shown in U.S. Patent Application Publication No. US2019 / 0231447A1, entitled “End Effectors And Methods For Driving Tools Guided By Surgical Robotic Systems,” the disclosure of which is hereby incorporated by reference in its entirety. Other configurations are contemplated. In some implementations, and as described in more detail below, the instrument 112 may not be configured as an electric surgical device 150.

[0117] In some embodiments, the energy applicator 114 is designed to contact and remove tissue from the patient P at the target site TS. For this purpose, in some embodiments, the energy applicator 114 may include a bone drill 154. The bone drill 154 may be substantially spherical and include a center, radius, and diameter. Alternatively, the energy applicator 114 may be a drill bit, saw blade, ultrasonic vibrating tip, etc. The tool 104, instrument 112, and / or energy applicator 114 may include any geometric features, including but not limited to perimeter, circumference, radius, diameter, width, length, volume, area, surface / plane, range of motion envelope (along any one or more axes), etc. The geometric features may be considered to determine how the tool 104 is positioned relative to the tissue at the surgical site TS for the desired treatment. In some embodiments described herein, for convenience and ease of illustration, a spherical bone drill 154 having or otherwise defining a tool center point (TCP) will be described, but it is not intended to limit the tool 104, instrument 112, and / or energy applicator 114 to any particular form. In some embodiments described herein, the tool center point TCP is defined by a portion of instrument 112 or tool 104 rather than a portion of energy applicator 114. Other configurations are contemplated.

[0118] In some embodiments, such as when instrument 112 is implemented as an electric surgical device 150, tool 104 may employ tool controller 136 to facilitate the operation of tool 104, such as controlling power to power generation component 152 (e.g., rotary motor), controlling movement of tool 104, controlling flushing / suction of tool 104, etc. Tool controller 136 may communicate with manipulator controller 132 and / or other components of surgical system 100. In some embodiments, manipulator controller 132 and / or tool controller 136 may be housed in manipulator 102 and / or manipulator cart 118. In some embodiments, a portion of tool controller 136 may be housed within tool 104. Other configurations are contemplated. The tool control system 130 may also include a user interface 142 having one or more output devices 144 and / or input devices 146, said user interface 142 being formed as part of the tool 104 and / or implemented by other parts of the surgical system and / or control system 124 (e.g., robot control system 126 and / or navigation system 128). Other configurations are contemplated.

[0119] Manipulator controller 132 controls the state (position and / or orientation) of tool 104 (e.g., tool center point TCP) relative to a coordinate system such as manipulator coordinate system MNPL. Manipulator controller 132 can control the (linear or angular) velocity, acceleration, or other derivatives of the motion of tool 104. In one example, the tool center point (TCP) is a predetermined reference point defined at energy applicator 114. However, as noted above, in some embodiments, tool 104 and / or other components of instrument 112 may define the tool center point TCP. In any case, the tool center point TCP has a known orientation relative to another coordinate system. The orientation of the tool center point TCP can be static or can be calculated. In some embodiments, the geometry of energy applicator 114 is known in or defined relative to the tool center point TCP coordinate system. The tool center point TCP may be located at the center of a sphere of the bone drill 154 of energy applicator 114 supported or defined by instrument 112 of tool 104, such that tracking is done at only one point. The tool center point TCP can be defined in various ways depending on the configuration of the energy applicator 114, the device 112, the tool 104, etc.

[0120] Manipulator 102 may employ joint encoder 122 (and / or motor encoder, as indicated above), or any other non-encoder position sensing method, to enable determination of the orientation of the tool center point TCP. Manipulator 102 may use joint J measurements to determine the orientation of the tool center point TCP, and / or various techniques may be employed to directly measure the orientation of the tool center point TCP. Control of tool 104 is not limited to the center point. For example, any suitable primitive, mesh, etc., may be used to represent tool 104. Other configurations are contemplated.

[0121] Continue to refer to Figure 1 As noted above, the surgical system 100 also includes a navigation system 128, which, among other things, is configured to track, monitor, detect, or otherwise sense movement of various objects such as tools 104, pointers 156 for registration objects (e.g., parts of anatomical structures, trackers, etc.), and parts of the patient's body B (e.g., bones or other anatomical structures located at or near the target site TS). For this purpose, the navigation system 128 employs a locator 158 configured to sense the position and / or orientation of trackers 160 within a locator coordinate system LCLZ. A navigation controller 134 is configured to communicate with the locator 158 and collect position and / or orientation data of each tracker 160 sensed within the locator coordinate system LCLZ within the field of view of the locator 158.

[0122] Positioner 158 can sense the position and / or orientation of multiple trackers 160 to track corresponding multiple objects within the positioner coordinate system LCLZ. (Example, and as...) Figure 1 As depicted, tracker 160 may include a pointer tracker 160P coupled to pointer 156; a manipulator tracker 160M coupled to base 106 of manipulator 102; one or more tool trackers 160G, 160I coupled to a portion of tool 104; a first patient tracker 160A coupled to a portion of the anatomical structure of patient P; a second patient tracker 160B coupled to another portion of the anatomical structure of patient P; and additional patient trackers; and trackers for additional medical and / or surgical tools, instruments, etc.

[0123] In some implementation schemes, and as such Figure 1 As shown, one or more tool trackers 160G, 160I can be securely attached to different portions of tool 104, such as those portions that can be configured to move relative to each other and / or relative to manipulator tracker 160M, which is securely attached to base 106 of manipulator 102. By way of a non-limiting example, and as described in more detail below, a first tool tracker 160G can be coupled to mount 148 (or another portion of tool 104) to move simultaneously with coupling 110 via manipulator 102, and / or a second tool tracker 160I can be coupled to different portions of tool 104 that move with one or more degrees of freedom relative to mount 148 and / or coupling 110. Although navigation system 128 may use Figure 1 The first tool tracker 160G and the second tool tracker 160I depicted in the present disclosure readily determine the relative positions and / or orientations of different portions of the tool 104 via the locator 158. However, certain embodiments of the present disclosure may be configured to facilitate this determination in other ways (e.g., by utilizing one or more sensors). Here, the present disclosure contemplates other configurations, and various combinations of trackers 160, sensors, predetermined geometric relationships, etc., may be utilized to track certain objects or otherwise associate those objects with the tracked object.

[0124] Continue to refer to Figure 1A first patient tracker 160A is securely attached to a bone in or near the target site TS of the patient's body B (e.g., attached to the pelvis near the acetabulum), and a second patient tracker 160B is securely attached to a different bone (e.g., attached to a portion of the femur). Although not shown in detail, patient trackers 160A and 160B can be coupled to multiple different bones in the patient's body B in various ways, such as by threaded engagement, clamping, or other techniques. Similarly, a first tool tracker 160G and / or a second tool tracker 160I can be secured to portions of tool 104 in various ways, such as by integration during manufacturing or by releasable attachment before or during surgical procedures. The various trackers 160 can be securely attached to different types of tracked objects (e.g., discrete bones, tools, pointers, etc.) in a variety of different ways. For example, tracker 160 can be rigidly fixed, flexibly connected (fiber optic) or not physically connected at all (ultrasound), as long as there is a suitable (e.g., supplementary) way to determine the relationship (e.g., measurement results) between the respective tracker 160 and the object or anatomical structure associated with it.

[0125] The position and / or orientation of the trackers 160 relative to the object or anatomical structure to which they are attached can be determined using known registration techniques. For example, determining the pose of patient trackers 160A, 160B relative to portions of the patient's body B to which they are attached can be accomplished using various forms of point-based registration, such as where the distal tip of pointer 156 is used to engage with specific anatomical landmarks (e.g., to touch specific portions of bone) or to engage portions of bone for surface-based registration while locator 158 monitors the position and orientation of pointer tracker 160P. Conventional registration techniques can then be used to associate the pose of patient trackers 160A, 160B with the patient's anatomical structures (e.g., with each of the femur and acetabulum).

[0126] Other types of registration are also possible, such as using patient trackers 160A, 160B with mechanical grippers attached to the bone and having tactile sensors (not shown) to determine the shape of the bone to which the grippers are attached. The shape of the bone can then be matched with a three-dimensional model of the bone for registration. The known relationship between the tactile sensors and the marker 162 on the patient trackers 160A, 160B can be entered into or otherwise known by the navigation controller 134 (e.g., stored in memory 140). Based on this known relationship, the position of the marker 162 relative to the patient's anatomy can be determined. The navigation controller 134 can use a variety of different registration / navigation techniques to collect, determine, or otherwise process position and / or orientation data to determine the coordinates of each tracker 160 in the locator coordinate system LCLZ or another suitable coordinate system. These coordinates are communicated to other parts of the control system 124, such as to the robot control system 126, to facilitate joint movements of the manipulator 102 and / or otherwise assist the surgeon in surgical procedures, as described in more detail below.

[0127] In the representative embodiments illustrated herein, manipulator controller 132 and tool controller 136 are operatively attached to the base 106 of manipulator 102, and navigation controller 134 and locator 158 are supported on a mobile trolley 164 movable relative to the base 106 of manipulator 102. The mobile trolley 164 may also support a user interface 142 to facilitate the operation of surgical system 100 by displaying information to and / or receiving information from the surgeon or another user. Although in Figure 1 The illustrative embodiment is shown as part of navigation system 128, but user interface 142 may form part of control system 124 or otherwise communicate with other parts of control system 124, such as robot control system 126 and / or tool control system 130. For this purpose, user interface 142 may be configured to communicate with navigation controller 134, manipulator controller 132, and / or tool controller 136, and may also include one or more output devices 144 (e.g., monitors, indicators, displays, etc.) for presenting information (e.g., images, videos, data, graphics, navigable menus, etc.) to the surgeon or other user, and one or more input devices 146 (e.g., physical or virtual input controls, buttons, touchscreens, keyboards, mice, gesture-based or voice-based input devices, etc.). A type of mobile cart 164 and user interface 142 utilized in this type of navigation system 128 is described in U.S. Patent No. 7,725,162 entitled “Surgery System,” the disclosure of which is hereby incorporated by reference in its entirety.

[0128] Because the trolley 164 and the base 106 of the manipulator 102 are locating relative to each other and also relative to the patient's body B, one or more parts of the surgical system 100 are typically configured to transform the coordinates of each tracker 160 sensed via the locator 158 from the locator coordinate system LCLZ to the manipulator coordinate system MNPL (or to another coordinate system), or vice versa, so that the joint movement of the manipulator 102 can be performed at least in part based on the relative position and / or orientation of some trackers 160 in a common coordinate system (e.g., the manipulator coordinate system MNPL, the locator coordinate system LCLZ, or another common coordinate system). Coordinates in the locator coordinate system LCLZ can be transformed to coordinates in the manipulator coordinate system MNPL (or other coordinate systems) using a variety of different transformation techniques, and vice versa. An example of data conversion or transformation between coordinate systems is described in U.S. Patent No. 8,675,939 entitled "Registration of Anatomical Data Sets," the disclosure of which is hereby incorporated by reference in its entirety.

[0129] In the illustrated embodiments, the locator 158 is an optical locator and includes a camera unit 166 having one or more optical sensors 168 and, in some embodiments, a camera 170. The locator 158 may also include a locator controller (not shown) that communicates with or otherwise forms part of a navigation system 128. The navigation system 128 uses the optical sensors 168 of the camera unit 166 to sense the position and / or orientation of the tracker 160 within the locator coordinate system LCLZ. In the representative embodiments illustrated herein, each tracker 160 employs a plurality of markers 162 (see...). Figure 2The plurality of markers 162 can be sensed by the optical sensor 168 of the camera unit 166. An example of this type of navigation system 128 is described in U.S. Patent No. 9,008,757 entitled “Navigation System Including Optical and Non-Optical Sensors,” the disclosure of which is hereby incorporated by reference in its entirety. In some embodiments, the markers 162 are active markers (e.g., light-emitting diodes, “LEDs”) that emit light that can be sensed by the locator 158. In some embodiments, the tracker 160 may employ passive markers (e.g., reflectors) that reflect light emitted from the locator 158 or another light source. Although one embodiment of the navigation system 128 is illustrated throughout the figures, the navigation system 128 may have any suitable configuration for monitoring the tracker 160, any suitable configuration, as will be understood from the following description, may have various types and configurations. For example, the navigation system 128 may include a plurality of locators 158 and / or trackers 160 of the same or different types.

[0130] In some implementations, navigation system 128 and / or locator 158 are radio frequency (RF) based. For example, navigation system 128 may include an RF transceiver coupled to navigation controller 134 and / or coupled to another computing device, controller, etc. Here, tracker 160 may include an RF transmitter or transceiver, which may be passive or actively activated. The RF transceiver transmits RF tracking signals, and the RF transmitter responds with RF signals, such that the tracked state is communicated to (or interpreted by) navigation controller 134. The RF signal may have any suitable frequency. The RF transceiver may be positioned at any suitable location to effectively track objects using RF signals. Furthermore, implementations of RF-based navigation systems may have structural configurations different from those of the active marker-based navigation system 128 illustrated herein.

[0131] In some implementations, navigation system 128 and / or locator 158 are electromagnetic (EM) based. For example, navigation system 128 may include an EM transceiver coupled to navigation controller 134 and / or coupled to another computing device, controller, etc. Here, tracker 160 may include EM components attached thereto (e.g., various types of magnetic trackers, electromagnetic trackers, inductive trackers, etc.), which may be passive or actively excited. The EM transceiver generates an EM field, and the EM components respond with EM signals, such that the tracked state is communicated to (or interpreted by) navigation controller 134. Navigation controller 134 may analyze the received EM signals to associate the associated state with it. Similarly, implementations of EM-based navigation systems may have structural configurations different from the active tag-based navigation system 128 illustrated herein.

[0132] In some implementations, navigation system 128 and / or locator 158 may be based on one or more types of imaging systems that do not necessarily require tracker 160 to be fixed to an object in order to determine its associated location data. For example, an ultrasound-based imaging system may be provided to facilitate the acquisition of ultrasound images (e.g., specific known structural features of the tracked object, tags or labels attached to the tracked object, etc.) such that the tracking state (e.g., position, orientation, etc.) is communicated to (or interpreted by) navigation controller 134 based on the ultrasound images. The ultrasound images may be three-dimensional, two-dimensional, or a combination thereof. Navigation controller 134 may process the ultrasound images in near real-time to determine the tracking state. The ultrasound imaging device may have any suitable configuration and may differ from... Figure 1 The camera unit 166 is shown. By further example, a fluorescence-based imaging system can be provided to facilitate the acquisition of X-ray images of radiopaque markers (e.g., labels, tags, etc., with known structural features attached to the tracked object), such that the tracked state is communicated to (or interpreted by) the navigation controller 134 based on the X-ray images. The navigation controller 134 can process the X-ray images in near real-time to determine the tracked state. Similarly, other types of optical-based imaging systems can be provided to facilitate the acquisition of digital images, videos, etc. (e.g., via a charge-coupled device "CCD" sensor, such as camera 170) of a particular known object (e.g., based on comparison with a virtual representation of the tracked object or its structural components or features) and / or markers (e.g., labels, tags, etc., attached to the tracked object), such that the tracked state is communicated to (or interpreted by) the navigation controller 134 based on the digital images. The navigation controller 134 can process the digital images in near real-time to determine the tracked state.

[0133] Therefore, without departing from the scope of this disclosure, various types of imaging systems, including multiple imaging systems of the same or different types, may form part of navigation system 128. Navigation system 128 and / or locator 158 may have any other suitable components or structures not specifically listed herein. For example, navigation system 128 may utilize inertial tracking alone or any combination of tracking techniques, and may additionally or alternatively include fiber-optic tracking, machine vision tracking, etc. Furthermore, with Figure 1 Any of the technologies, methods and / or components associated with the illustrated navigation system 128 may be implemented in a variety of different ways, and other configurations are contemplated in this disclosure.

[0134] In some embodiments, the surgical system 100 is capable of displaying a virtual representation of the relative position and orientation of the tracked object to the surgeon or other user of the surgical system 100, such as using images and / or graphical representations of the patient's body B, tools 104, instruments 112, energy applicators 114, etc., presented on one or more output devices 144 (e.g., displays). The manipulator controller 132 and / or navigation controller 134 may also utilize the user interface 142 to display instructions or request information, allowing the surgeon or other user to interact with the robot control system 126 (e.g., using a graphical user interface GUI) to facilitate joint movements of the manipulator 102. Other configurations are contemplated.

[0135] As noted above, locator 158 tracks trackers 160 to determine the state of each tracker 160, each state corresponding to the state of an object to which it is attached. Locator 158 may perform known triangulation techniques to determine the state of the tracker 160 and the associated object. Locator 158 provides the state of the tracker 160 to navigation controller 134. In some embodiments, navigation controller 134 determines the state of the tracker 160 and communicates the state to manipulator controller 132. As used herein, the state of an object includes, but is not limited to, data or equivalents / derivatives defining the position and / or orientation of the tracked object. For example, the state may be the object's pose and may include linear velocity data and / or angular velocity data, etc. Other configurations are contemplated.

[0136] refer to Figure 2 The surgical system 100 typically includes a control system 124, which, among other components, may include or be otherwise defined as the manipulator controller 132, navigation controller 134, tool controller 136, and / or various components of the robot control system 126, navigation system 128, and / or tool control system 130 as indicated above. The control system 124 may also include... Figure 3One or more software modules are shown. A software module may be part of one or more programs operating on the manipulator controller 132, navigation controller 134, tool controller 136, or any combination thereof to process data for facilitating or otherwise assisting control of the surgical system 100. The software program and / or module includes computer-readable instructions stored in non-transitory memory 140 on the manipulator controller 132, navigation controller 134, tool controller 136, or any combination thereof for execution by one or more processors 138 of one or more of the controllers 136, 132, and 134.

[0137] Memory 140 may have any suitable configuration, such as random access memory (RAM), non-volatile memory, etc., and may be implemented locally or from a remote location (e.g., a database, server, etc.). Additionally, software modules for prompting and / or communicating with the user may be part of a module or program and may include instructions stored in memory 140 on the manipulator controller 132, navigation controller 134, tool controller 136, or any combination thereof. The user may interact with any user interface 142 (e.g., ...). Figure 1 The user interface 142 of the navigation system 128 shown interacts with either the input device 146 or the output device 144 to communicate with software modules and / or programs. The control system 124 may also include the user interface 142 (e.g., a graphical user interface GUI) or other software or modules that can run on a device (e.g., a portable electronic device, such as a tablet computer) separate from the manipulator controller 132, navigation controller 134, and / or tool controller 136. Other configurations are contemplated.

[0138] The control system 124 may include any suitable arrangement and / or configuration of input, output, and processing means adapted to perform the functions and methods described herein. The surgical system 100 may include manipulator controller 132, navigation controller 134, or tool controller 136, or any combination thereof, or may include only some of these controllers or include additional controllers, wherein any controller may form part of the control system 124 as indicated above. Controllers 132, 134, 136 may be transmitted via, for example, Figure 2 The wired bus or communication network shown communicates wirelessly or otherwise. The control system 124 may also be referred to as a controller and may similarly include one or more microcontrollers, field-programmable gate arrays, systems-on-a-chip, discrete circuits, sensors, displays, user interfaces, indicators, and / or other suitable hardware, software, or firmware capable of performing the functions described herein. Other configurations are contemplated.

[0139] refer to Figure 3In some implementations, the software used by the control system 124 may include a boundary generator 172. For example... Figure 4 As shown, boundary generator 172 is a software program or module that generates a virtual boundary 174 for the movement and / or manipulation of constraint tool 104. The virtual boundary 174 can be one-dimensional, two-dimensional, or three-dimensional, and can include points, lines, axes, trajectories, planes, or other shapes, including complex geometries. In some embodiments, the virtual boundary 174 is a surface defined by a triangular mesh. Such a virtual boundary 174 may also be referred to as a virtual object. The virtual boundary 174 can be defined relative to an anatomical model AM, such as a three-dimensional skeletal model. Because the anatomical model AM is mapped to the anatomical structure of patient P via registration or other processes, the anatomical model AM is associated with the actual anatomical structure of patient P. Figure 4 In one example, the virtual boundary 174 comprises a generally spherical mesh that substantially surrounds the acetabulum, the spherical mesh having an inlet portion (e.g., an opening) that allows access to the acetabulum. The inlet portion has a funnel or conical shape. In this representative embodiment, the virtual boundary 174 is associated with a three-dimensional model of the acetabulum of the pelvis.

[0140] The anatomical model AM and the associated virtual boundary 174 are registered to one or more patient trackers 160A, 160B. Therefore, the anatomical model AM (and the associated real anatomical structure of patient P) and the virtual boundary 174 fixed to the anatomical model AM can be tracked by the patient trackers 160A, 160B. The virtual boundary 174 can be implant-specific (e.g., defined based on the size, shape, volume, etc. of the implantable component 116) and / or patient-specific (e.g., defined based on the anatomical structure of patient P). The virtual boundary 174 can be a boundary generated preoperatively, intraoperatively, or in combination thereof. In other words, the virtual boundary 174 can be defined before the start of the surgical procedure, during the surgical procedure (including during tissue removal), or in combination thereof. In any case, the control system 124 obtains the virtual boundary 174 by storing / retrieving the virtual boundary 174 from memory 140, obtaining the virtual boundary 174 from memory 140, generating the virtual boundary 174 preoperatively, generating the virtual boundary 174 intraoperatively, etc.

[0141] Manipulator controller 132 and / or navigation controller 134 can track the state of tool 104 relative to virtual boundary 174. In some embodiments, the state of tool center point TCP relative to virtual boundary 174 is measured to determine the tactile force to be applied to the virtual rigid body VRB model via virtual simulation VS, such that tool 104 maintains a desired positional relationship with virtual boundary 174 (e.g., does not move beyond virtual boundary 174). The result of virtual simulation VS is communicated to manipulator 102. Control system 124 (e.g., manipulator controller 132 of robot control system 126) controls / positions manipulator 102 in a manner that mimics the response of a physical head in the presence of a physical boundary / obstacle. Boundary generator 172 may be implemented on manipulator controller 132. Alternatively, boundary generator 172 may be implemented on other components such as navigation controller 134 or other parts of control system 124. Other configurations are contemplated.

[0142] refer to Figure 3 and Figure 5 Path generator 176 is another software program or module that can be run by control system 124. In some embodiments, path generator 176 is run by manipulator controller 132. Path generator 176 generates a tool path TP for tool 104 to traverse, for example, segments of anatomical structures of patient P at target site TS to receive implantable component 116. Tool path TP may include multiple path segments PS, or may include a single path segment PS. Path segments PS may be straight segments, curved segments, combinations thereof, etc. Tool path TP may also be defined relative to anatomical model AM. Tool path TP may be implant-specific (e.g., defined based on the size, shape, volume, etc. of implantable component 116) and / or patient-specific (e.g., defined based on the anatomy of patient P). Other configurations are contemplated.

[0143] In some embodiments described herein, the tool path TP is defined as a tissue removal path adjacent to the target site TS. However, in some embodiments, the tool path TP can be used for treatments other than tissue removal. An example of a tissue removal path described herein includes a milling path MP. It should be understood that the term "milling path" generally refers to a path by which the tool 104 mills anatomical structures near the target site TS, and is not intended to require that the tool 104 operatively mill anatomical structures for the entire duration of the path. For example, a milling path MP may include a segment or section by which the tool 104 transitions from one location to another without milling. Additionally, other forms of tissue removal, such as tissue ablation, may be employed along the milling path MP. The milling path MP may be a predefined path generated preoperatively, intraoperatively, or in combination thereof. In other words, the milling path MP may be defined before the start of the surgical procedure, during the surgical procedure (including during tissue removal), or in combination thereof. In any case, the control system 124 obtains the milling path MP by storing / retrieving the milling path MP from the memory 140, obtaining the milling path MP from the memory 140, generating the milling path MP preoperatively, generating the milling path MP intraoperatively, etc. The milling path MP can have any suitable shape or combination of shapes, such as circular, spiral / screw-cone, linear, curved, and combinations thereof. Other configurations are contemplated.

[0144] An example of a system and method for generating virtual boundary 174 and / or milling path MP is described in U.S. Patent No. 9,119,655, previously cited, entitled “Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes.” Further examples are described in U.S. Patent No. 8,010,180, entitled “Haptic Guidance System and Method,” and U.S. Patent No. 7,831,292, entitled “Guidance System and Method for Surgical Procedures with Improved Feedback,” the disclosures of which are hereby incorporated by reference in their entirety. In some embodiments, virtual boundary 174 and / or milling path MP may be generated offline, rather than on the manipulator controller 132, navigation controller 134, or another component of the surgical system 100. Thereafter, virtual boundary 174 and / or milling path MP may be utilized by manipulator controller 132 at runtime.

[0145] Return to reference Figure 3This illustrates another software program or module that may run on the manipulator controller 132 and / or navigation controller 134 for performing behavior control 178. Behavior control 178 is a process of calculating data instructing the tool 104 to take its next commanded position and / or orientation (e.g., pose). In some cases, behavior control 178 outputs only the position or orientation of the tool center point TCP, while in other cases, it outputs both the position and orientation of the tool center point TCP. In some embodiments, outputs from boundary generator 172, path generator 176, and sensor 180 (e.g., a six-DOF force / torque transducer) may be fed as inputs into behavior control 178 to determine the tool 104's next commanded position and / or orientation. Behavior control 178 may process these inputs, along with one or more virtual constraints VC as described in more detail below, to determine the commanded pose CP.

[0146] Continue to refer to Figure 3 This illustrates another software program or module that can run on the manipulator controller 132 and / or navigation controller 134 for performing motion control 182. One aspect of motion control 182 is the control of the manipulator 102. Motion control 182 receives data from behavior controller 178 defining the next command posture CP. Based on this data, motion control 182 determines the next position of the joint angle of joint J of the manipulator 102's robotic arm 108 (e.g., via inverse kinematics and Jacobian matrix calculator) such that the manipulator 102 can position the tool 104 according to the command of behavior control 178 (e.g., with command posture CP). In other words, motion control 182 processes the command posture CP, which can be defined in Cartesian space, into joint angles of the manipulator 102 such that the manipulator controller 132 can accordingly command the joint motors to move joint J of the manipulator 102 to the command joint angle corresponding to the command posture CP of the tool 104. In some implementations, motion control 182 calibrates the joint angle of each joint J of the robotic arm 108 and continuously adjusts the torque output of each joint motor to ensure, as closely as possible, that the joint motor drives the associated joint J to the commanded joint angle.

[0147] Boundary generator 172, path generator 176, behavior control 178, and motion control 182 may be subsets of software program 184 (e.g., modules). Alternatively, each may be a software program that operates individually and / or independently or in any combination thereof. The term "software program" is used herein to describe computer-executable instructions configured to carry out the various capabilities of the described technical solutions. For simplicity, the term "software program" is intended to cover at least any one or more of boundary generator 172, path generator 176, behavior control 178, and / or motion control 182. Software program 184 may be implemented on manipulator controller 132, navigation controller 134, or any combination thereof, or may be implemented by control system 124 in any suitable manner.

[0148] In some implementations, a clinical application 186 may be provided to facilitate user interaction and coordinate surgical workflows, including preoperative planning, implant placement, registration, visualization of bone preparation, and postoperative assessment of implant fit. The clinical application 186 may be configured to output data to an output device 144 (e.g., a display, screen, monitor, etc.), receive input data from an input device 146, or otherwise interact with a user interface 142, and may include or form part of a graphical user interface (GUI). The clinical application 186 may run on its own separate processor or may run in conjunction with a navigation controller 134, a manipulator controller 132 and / or a tool controller 136 or any other suitable part of a control system 124.

[0149] In one implementation, the clinical application 186 interacts with the boundary generator 172 and / or the path generator 176 after the user sets the implant placement, and then sends the virtual boundary 174 and / or tool path TP returned by the boundary generator 172 and / or the path generator 176 to the manipulator controller 132 for execution. Here, the manipulator controller 132 executes the tool path TP as described herein. The manipulator controller 132 may additionally generate certain segments (e.g., introduce segments) at the start or end of machining to smoothly return to the generated tool path TP. The manipulator controller 132 may also process the virtual boundary 174 to generate corresponding virtual constraints VC, as described in more detail below.

[0150] Surgical system 100 can operate in manual mode, as described in U.S. Patent No. 9,119,655, previously cited, entitled “Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes.” Here, the user provides manual guidance, and manipulator 102 performs movement of tool 104 and its energy applicator 114 at the surgical site. The user (e.g., a surgeon) physically contacts tool 104 to move tool 104 in manual mode. In some embodiments, manipulator 102 monitors the forces and torques placed on tool 104 by the user to position tool 104. For this purpose, surgical system 100 may employ sensor 180 (e.g., a multi-degree-of-freedom (DOF) force / torque transducer) that detects and measures the forces and torques applied by the user to tool 104 and generates corresponding inputs (e.g., one or more corresponding input / output signals) for use by control system 124. The forces and torques applied by the user at least partially define the external force F. ext The F ext Used to determine how to move tool 104 in manual mode (or other modes). External force F ext This may include forces and torques other than those applied by the user, such as gravity-compensating forces, reverse driving forces, etc., as described in U.S. Patent No. 9,119,655, previously cited, entitled "Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes". Therefore, the forces and torques applied by the user at least partially define the external force F. ext And in some cases, F can be completely defined. ext This affects the overall movement of tool 104 in manual mode and / or other modes as described in more detail below.

[0151] Sensor 180 may include a six-DOF force / torque transducer arranged to detect forces and / or torques (e.g., forces applied to tool 104 by a user) occurring between manipulator 102 and target site TS. For illustrative purposes, sensor 180 is generally depicted as adjacent to or otherwise part of coupling 110 of manipulator 102 (e.g., joint J6 coupled to robotic arm 108). However, other configurations and arrangements are contemplated. Manipulator controller 132, navigation controller 134, tool controller 136, and / or other components of surgical system 100 may receive signals (e.g., as inputs) from sensor 180. In response to forces and torques applied by the user, manipulator 102 moves tool 104 in a manner that mimics the movement that would occur based on the forces and torques applied by the user. Movement of tool 104 in manual mode may also be constrained with respect to a virtual boundary 174 generated by boundary generator 172. In some implementations, the measurement results obtained by sensor 180 are transformed from the sensor coordinate system SN of sensor 180 to another coordinate system, such as the virtual mass coordinate system VM of virtual simulation VS for virtual rigid body VRB model of tool 104, so that forces and torques can be virtually applied to virtual rigid body VRB in virtual simulation VS to ultimately determine how those forces and torques (and other inputs) will affect the movement of virtual rigid body VRB, as described below.

[0152] The surgical system 100 can also operate in a semi-autonomous mode, in which the manipulator 102 moves the tool 104 automatically along the milling path MP, such as by manipulating the movable joint J of the manipulator 102 to move the tool 104 without the need for force / torque from the user on the tool 104. Examples of operation in semi-autonomous mode are also described in U.S. Patent No. 9,119,655, previously cited, entitled “Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes.” In some embodiments, when the manipulator 102 operates in semi-autonomous mode, the manipulator 102 is able to move the tool 104 without user assistance. Here, “without user assistance” can mean that the user does not physically touch the tool 104 or the robotic arm 108 to move the tool 104. Instead, the user can use some form of remote control (e.g., a pendant; not shown) to control the start and stop of the movement. For example, the user can press and hold a button on the remote control to start the movement of the tool 104 and release the button to stop the movement of the tool 104. An example of this type of remote control embodied in a user accessory is described in U.S. Patent No. 10,117,713, entitled "Robotic Systems and Methods for Controlling a Tool Removing Material from Workpiece," the disclosure of which is hereby incorporated by reference in its entirety. Other configurations are contemplated.

[0153] In manual mode, moving tool 104 from the current state SC to a target state ST (e.g., to a target location PT, target orientation OT, or target pose) can be challenging for the user. For any number of reasons, it may be desirable to move tool 104 to a specific target state ST, such as placing tool 104 within a desired proximity to the milling path MP, placing tool 104 in an orientation suitable for preparing tissue to receive the implantable component 116 for aligning tool 104 with a specific trajectory / plane, etc. However, the user may find it difficult to place tool 104 precisely enough. This can be particularly difficult when the anatomy of patient P is partially obstructed from the user's view by soft tissue, fluid, etc. Here, surgical system 100 can switch from manual mode to semi-autonomous mode, as described in U.S. Patent No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes," which was cited previously. Therefore, in order to place tool 104 in target state ST, manipulator 102 can autonomously move tool 104 from current state SC to target state ST.

[0154] If the user wishes to maintain manual contact with tool 104 during movement toward target state ST to achieve control over tool 104, the surgical system 100 can also operate in a guided-tactile mode. The guided-tactile mode can be used to help guide the user to place tool 104 in or otherwise position it in target state ST (attraction) or to guide the user away from target state (repulsion). In guided-tactile mode, aspects of control used in manual and semi-autonomous modes are utilized. For example, the force and torque applied by the user are still detected by sensor 180 to determine the external force F. ext The external force F ext Feeding is made into the virtual simulation VS to at least partially affect the overall movement of tool 104. Additionally, in guided-haptic mode, the surgical system 100 generates virtual constraint VC force F. c The virtual attraction (or repulsion) force VF (or torque) embodied in the virtual constraint force F c With external force F ext Together they are fed into the virtual simulation VS. The guided-haptic mode can be used to move tool 104 away from the target state ST (repelling haptics) and / or to attract tool 104 toward the target state ST (attracting haptics).

[0155] The virtual attraction force (VF) includes a force and / or torque that can be virtually applied to a virtual rigid body (VRB) in the virtual simulation (VS) and is adapted to attract or otherwise propel tool 104 toward a target state (ST). The virtual attraction force (VF) influences the overall movement (ST) of tool 104 in a way that provides tactile feedback to the user, instructing the user how tool 104 should be moved to reach the target state (ST). More specifically, in the virtual simulation (VS), the force and / or torque associated with the virtual attraction force (VF) can counteract external forces. Fext The effects of force and / or torque (and / or other forces and / or torques) cause tool 104 to ultimately move in a manner that provides a tactile interaction effect to the user, the tactile interaction effect indicating the direction / rotation ST that should be moved to reach the target state. Therefore, the guided-tactile mode relies on manual manipulation to move tool 104, but such movement is not merely a mimicking of movement based on forces and torques applied by the user, but is actively controlled to guide the user toward the target state ST. Thus, the guided-tactile mode allows direct engagement with tool 104 while providing the benefits associated with autonomous (or semi-autonomous) movement of tool 104.

[0156] In the guided-haptic mode, tool 104 is effectively attracted toward a target state ST to provide a haptic interaction effect to the user. These effects can be generated on one or more degrees of freedom (DOFs) to attract tool 104 toward the target state ST. Therefore, the target state ST can be defined such that tool 104 is attracted on only one DOF, or it can be defined such that tool 104 is attracted on more than one DOF. Thus, the target state ST can include a target position PT, a target orientation OT, or both (e.g., a target pose TP) defined in a target coordinate system TF. The target position PT can include one or more positional components (e.g., x-position XP, y-position YP, and / or z-position ZP) relative to the x, y, and / or z axes of the target coordinate system TF. In some cases, the target position PT can be represented as the origin of the target coordinate system TF. Similarly, the target orientation OT can include one or more orientation components (e.g., x-orientation XO, y-orientation YO, and / or z-orientation ZO) relative to the x, y, and / or z axes of the target coordinate system TF. The x-position XP, y-position YP, z-position ZP, x-orientation XO, y-orientation YO, and z-orientation ZO each represent (e.g., the corresponding degrees of freedom (DOF) of the coordinate system). In some cases, the target orientation OT may be expressed as the orientation of the x, y, and z axes of the target coordinate system TF. The term "target pose" TP means a combination of one or more position components XP, YP, ZP and one or more orientation components XO, YO, ZO. In some cases, the target pose TP may include the target position PT and the target orientation OT on all six degrees of freedom (DOF) of the target coordinate system TF. In some cases, the target position PT and / or the target orientation OT may also be referred to as the starting position and / or the starting orientation.

[0157] The target coordinate system TF can be any coordinate system in which the target state ST is defined, and the target state ST can be transformed to any other coordinate system desired relative to the target state ST of the monitoring tool 104 as the current state SC of the tool 104 is. The target state ST can be tracked in the tracker coordinate system, the locator coordinate system LCLZ, the manipulator coordinate system MNPL, the virtual mass coordinate system VM, the tool center point TCP coordinate system, etc. The target state ST can be defined relative to the anatomical model AM of the patient P, and the anatomical structure relative to the patient P can be fixed in the anatomical model coordinate system, the anatomical structure tracker coordinate system (e.g., which is tracked by one or more patient trackers 160A, 160B), etc. The current state SC of the tool 104 can be defined relative to the guided coordinate system GF. The guided coordinate system GF can be bound to another coordinate system, or the current state SC can be transformed to any guided coordinate system GF to achieve tracking of the current state SC relative to the target state ST. For example, the current state SC can be tracked in the tracker coordinate system, the locator coordinate system LCLZ, the manipulator coordinate system MNPL, the virtual mass coordinate system VM, the tool center point TCP coordinate system, etc. In some embodiments, the current state SC of tool 104 may be initially defined relative to the tool center point TCP coordinate system (e.g., where the TCP coordinate system and the guided coordinate system GF are shown as the same for illustrative purposes), and the target state ST may be initially defined relative to the anatomical model coordinate system, but both the guided coordinate system GF and the target coordinate system TF may be transformed to a common coordinate system for tracking purposes. The target state ST may be defined preoperatively, intraoperatively, or both. Various aspects of intraoperative planning, anatomical models, etc., are described in U.S. Patent Application Publication No. US2018 / 0333207 A1 entitled “Surgical Systems and Methods for Facilitating Ad-hoc Intraoperative Planning of Surgical Procedures,” the disclosure of which is hereby incorporated by reference in its entirety. Other configurations are contemplated.

[0158] The control system 124 employs virtual constraints VCs defined to generate virtual attraction VF (e.g., force and / or torque) that attracts tool 104 to target state ST in the virtual simulation VS. These virtual constraints VCs are referred to herein as guiding constraints GCs. The guiding constraints GCs are defined to ultimately influence the movement of tool 104 toward target state ST, thereby providing one or more of the aforementioned tactile interaction effects to the user. Typically, virtual constraints VCs are restrictions on the movement of a rigid body considered by the control system 124 along with other motion-related information to determine how to command manipulator 102 to move tool 104. As further described below, the guiding constraints GCs have configurable spring parameters PS and damping parameters PD, such that the guiding constraints GCs are not infinitely rigid. More specifically, in some versions, the guiding constraints GCs are defined as “soft constraints” such that they do not prevent movements that violate them, such as movement ST caused by forces and torques applied by the user in the direction opposite to target state ST. Therefore, in the guided-haptic mode or other modes, the user can still violate the guiding constraint GC to influence the movement of tool 104 in the opposite direction to the target state ST. However, the guiding constraint GC still functions to generate the attraction and torque against the user (e.g., haptic interaction effects) that the user perceives, allowing the user to understand in which direction tool 104 should be moved to reach the target state ST. For example, the user may perceive these haptic interaction effects by the ease with which tool 104 is moved toward the target state ST compared to moving it away from the target state ST (e.g., the user may feel as if more work is required to move the tool away from the target state ST compared to moving it toward the target state ST). In other words, the user may feel as if a physical spring interconnects the guided coordinate system GF of tool 104 with the target coordinate system TF (see...). Figure 6 (Illustration of springs and dampers in the diagram).

[0159] One or more guiding constraints GCs may be used by the control system 124 to guide the user, including up to three guiding constraint GCs associated with the target position PT and up to three guiding constraint GCs associated with the target orientation OT. As described in more detail below, the control system 124 operates to calculate the constraint force F that satisfies the guiding constraint GCs (and other virtual constraints VC, if used). c Constraint force F cVirtual attraction VF (e.g., force and / or torque) is incorporated to attract tool 104 to target state ST. Each of the guiding constraints GC is considered a one-dimensional virtual constraint VC. In some embodiments, the guiding constraint GC is a velocity pulse constraint. In some embodiments, the constraints are similar to those used in pulse modeling described in U.S. Patent No. 9,119,655, previously cited, entitled "Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes". In some embodiments, these virtual constraint VCs are defined only in guided-haptic modes, and not in manual or semi-autonomous modes. In some embodiments, the virtual constraint VCs are used in all modes. Other configurations are contemplated.

[0160] exist Figure 6 In this diagram, the three guiding constraints GC associated with the target position PT are illustratively represented as being bounded in the target coordinate system TF. The constraint force F is ultimately calculated as a result of these three guiding constraints GC. c The attractive force is illustrated by incorporating the spring parameters PS and damping parameters PD, which guide the tool center point TCP of tool 104 to the target position PT (e.g., the origin of the target coordinate system TF). This is just one example. Constraint force F c It may include force and torque components so as to also align tool 104 with the target orientation.

[0161] The guiding constraint GC (and other virtual constraint VCs, if used) is primarily limited by three runtime parameters: the constraint Jacobian matrix Jp, the desired velocity V, and so on. des (or Vp2) and constraint distance Δd. The Jacobian matrix Jp maps each one-dimensional guiding constraint GC to a coordinate system used for the virtual simulation VS (e.g., the virtual mass coordinate system VM). Desired velocity V des (or Vp2) is the scalar velocity of the guiding constraint GC in the target coordinate system TF. Here, the desired velocity V des The value can be zero when the patient P is stationary and the associated target state ST relative to the patient P does not move, but it can be non-zero when the patient P moves because the target state ST can be bound to the patient P. The constraint distance Δd refers to the proximity of the guided coordinate system GF to the constraint and indicates whether the constraint is violated. In some cases, Δd refers to the distance / angle between the current state SC and the target state ST, and the guiding constraint GC is violated whenever the current state SC does not match the target state ST with respect to the associated degrees of freedom.

[0162] The guiding constraints GC are not entirely rigid; instead, each of the guiding constraints GC has a tuning parameter TPA to adjust the stiffness of the virtual constraint VC (e.g., by incorporating a spring parameter PS and / or a damping parameter PD). Such a tuning parameter TPA may include a constraint force mixing parameter C and an error reduction parameter ε. The spring parameter PS and the damping parameter PD may be adjusted during operation in a guided-tactile mode or during other modes as described in more detail below. In some embodiments, the value of the tuning parameter TPA may be changed based on the relationship between the current state SC and the target state ST. For example, the tuning parameter TPA may be configured to increase stiffness as the tool 104 gets closer to the target state ST, or the tuning parameter TPA may decrease stiffness as the tool 104 approaches the target state ST. The tuning parameter TPA may differ for different guiding constraint GCs. For example, a guiding constraint GC may include a first virtual constraint VC with a first value of tuning parameter TP1 and a second virtual constraint VC with a second value of tuning parameter TPA, the first value being greater than the second value, such that, compared to the second virtual constraint VC, the constraint force F... c The resulting virtual attraction force VF (e.g., force and / or torque) is adapted to more strongly attract tool 104. For positional constraints, the value of the tuning parameter TPA can be larger (e.g., more rigid) for positional constraints than for orientation constraints, or vice versa. Other configurations are envisioned.

[0163] The tuning parameter TPA can also be set as follows: remaining constant regardless of the distance / angle from the current state SC to the target state ST; increasing / decreasing exponentially with the distance between the current state SC and the target state ST; varying linearly with the distance between the current state SC and the target state ST; varying with the constraint direction; taking gravity effects into account; and so on. The tuning parameter TPA of a virtual constraint VC associated with one degree of freedom (DOF) can be set based on its relationship with another DOF (e.g., the stiffness of the x-axis constraint can be changed based on the distance along the y-axis between the current state SC and the target state ST). The tuning parameter TPA can also vary according to the direction in which tool 104 needs to move to reach the target state ST (e.g., being more rigid when moving along one direction of the x-axis than when moving in the opposite direction of the x-axis). The tuning parameter TPA can also be based on the constraint force F ultimately calculated based on the guiding constraint GC. c Scaling, such as by adjusting for constraint force F c The stiffness can be increased / decreased by adjusting the magnitude of any of its components. In some cases, fixed values ​​of one or more virtual attraction forces (VF) can also be added to the virtual simulation (VS).

[0164] The tuning parameter TPA of the guided constraint GC can be set such that the user can easily move tool 104 away from the target location PT and / or target orientation OT. In other words, the tuning parameter TPA can be set such that, in the virtual simulation VS, the effect of the force and torque applied by the user exceeds the effect of the virtual attraction force VF (e.g., force and torque). Therefore, the control system 124 can be configured to allow the user to reposition and / or reorient tool 104 away from the target location PT and / or target orientation OT, even when the guided constraint GC is enabled. The tuning parameter TPA of the guided constraint GC can be set preoperatively or intraoperatively; updated intraoperatively; or a combination thereof. The tuning parameters TPA and their values, their correlation with a particular relationship, and the ways in which they can be scaled can be stored in one or more lookup tables in any suitable memory 140 of the control system 124 for later retrieval.

[0165] Each guiding constraint GC also has configuration parameters CPA. Configuration parameters CPA may include information about: tuning parameters TPA, such as constraint force mixing parameters C and error reduction parameters ε; upper force limit FLU and / or lower force limit FLL; and / or upper constraint distance offset DOU and / or lower constraint distance offset DOL. The upper force limit FLU and lower force limit FLO refer to the limits of forces calculated for each guiding constraint GC, which are ultimately solved by constraint solver 192 to generate constraint forces F. c As further described below. The guiding constraint GC is a bilateral constraint (e.g., the forces calculated to satisfy the constraint can be positive or negative), and the force limits FLU and FLO can be set high (e.g., -100,000 / +100,000 Newtons) or at any desired limit in both the positive and negative directions. The upper constraint distance offset DOU and the lower constraint distance offset DOL indicate when the constraint is active. For the guiding constraint GC, the upper constraint distance offset DOU and the lower constraint distance offset DOL can be set such that the constraint is active at any time when the current state SC differs from the target state ST.

[0166] Figure 7An example is illustrated in some implementations of a process to execute a guided-haptic mode. Here, behavior control 178 includes a path handler 188, a guidance handler 190, a constraint solver 192, and a virtual simulator 194. Behavior control 178 also includes a boundary handler 196 to generate virtual boundary constraints BC based on one or more virtual boundaries 174 generated by the boundary generator 172. Path handler 188, guidance handler 190, constraint solver 192, virtual simulator 194, and boundary handler 196 each include executable software stored in a non-transitory memory 140 of any one or more of the controllers 132, 134, 136 mentioned above and implemented by the control system 124. Each of the portions of behavior control 178 described above will be described in more detail below.

[0167] The bootstrap handler 190 obtains the target state ST of tool 104 and generates one or more boot constraint GCs based on the target state ST and the current state SC of tool 104. Figure 7 As shown, the two inputs to the guidance process 190 include the current state SC and the target state ST. The current state SC can be defined relative to the last command pose CP, since the last command pose CP is related to the current pose of tool 104. The target state ST can be defined in an anatomical coordinate system, an anatomical structure tracker coordinate system, etc., and transformed to a common coordinate system with the current state SC. Other inputs to the guidance process 190 include the configuration parameters CPA and tuning parameters TPA of the guidance constraint GC. The guidance process 190 defines one or more guidance constraints GC based on the relationship between the current state SC and the target state ST, as well as the configuration parameters CPA and tuning parameters TPA. The guidance constraints GC are output from the guidance process 190 to the constraint solver 192.

[0168] Various virtual constraints (VCs) can be fed into the constraint solver 192, including guiding constraints (GCs), path constraints (PCs), boundary constraints (BCs), and other constraints. These virtual constraint VCs can be turned on / off by the control system 124. For example, in some cases, path constraints (PCs), boundary constraints (BCs), and other constraints may not be generated. Similarly, in some cases and in certain operating modes, guiding constraints (GCs) may not be generated. All virtual constraint VCs employed in behavior control 178 can affect the movement of tool 104. For illustrative purposes, only guiding constraint VCs will be described in detail.

[0169] Constraint solver 192 calculates the constraint force F to be virtually applied to tool 104 in virtual simulator 194 based on the virtual constraint VC fed into constraint solver 192. c In the guided-haptic mode, the constraint force F cThis includes force and / or torque components suitable for attracting tool 104 from the current state SC toward the target state ST based on one or more guiding constraints GC. When only the guiding constraints GC are input into the constraint solver 192, the constraint forces... Fc This can be considered as the aforementioned virtual attraction VF. However, when other virtual constraints VC are used, the ultimate task of constraint solver 192 is to find the solution of constraint force Fc that satisfies all virtual constraints VC, and therefore other virtual constraints VC can also affect constraint force F. c The magnitude / direction of the virtual attraction VF (e.g., force and / or torque) is considered as the constraint force F. c Those force and torque components that are oriented toward the target state ST due to the guiding constraint GC.

[0170] refer to Figure 8 The constraint equation CEQ is shown. The constraint solver 192 places the constraint data of each virtual constraint VC into the corresponding row of the constraint equation CEQ in matrix form to solve F. p Here, F p It is the force vector in the target coordinate system TF, hence F p Each component is a scalar constraint force acting in the corresponding constraint direction. To solve F... p As described in more detail below, Figure 8 The equations shown are transformed into matrix equations, where each row represents a single one-dimensional virtual constraint VC. The constraint data, along with other information known to the constraint solver 192, such as external forces F, are placed in the constraint equations CEQ. cgext Damping force F 阻尼 Inertial force F 惯性 Virtual mass matrix M, virtual mass velocity V cg1 And the time step Δt (e.g., 125 microseconds).

[0171] The virtual mass matrix M combines the 3×3 mass and inertia matrices. Damping force F. 阻尼 and inertial force F 惯性 It is calculated by the virtual simulator 194 or otherwise known, and is based on the virtual mass velocity V output by the virtual simulator 194 in the previous time step. cg1 (For example, the velocity of the virtual mass coordinate system VM). Virtual mass velocity V cg1 It is a six-degree-of-freedom (DOF) velocity vector that includes linear and angular velocity components. Damping force F 阻尼 It is based on the virtual mass velocity V cg1 The six-DOF force / torque vector is calculated using the damping coefficient matrix (linear and rotational coefficients may not be equal). Damping is applied to the virtual mass to improve its stability. Inertial force F 惯性 Also based on virtual mass velocity Vcg1 The six-DOF force / torque vector calculated with the virtual mass matrix M. Damping force F. 阻尼 and inertial force F 惯性 This can be determined in the manner described in U.S. Patent No. 9,566,122 entitled “Robotic System and Method for Transitioning Between Operating Modes,” the disclosure of which is hereby incorporated by reference in its entirety.

[0172] Constraint solver 192 can be configured with any suitable algorithmic instructions (e.g., iterative constraint solver, projective Gauss-Seidel solver, etc.) to solve the constraint equations CEQ system in order to provide a solution that best satisfies the equations (e.g., best satisfies various virtual constraints VC). In some cases, not all virtual constraints VC may be satisfied simultaneously. For example, in cases where motion is over-constrained by various virtual constraints VC, constraint solver 192 will essentially find a "best-fit" solution based on the relative stiffness / damping of the various virtual constraints VC. Constraint solver 192 solves the equations and ultimately outputs the constraint force F. c .

[0173] When using the projected Gauss-Seidel solver, constraint solver 192 constructs matrices A and b based on virtual constraints VC, and uses the projected Gauss-Seidel equations to determine the resulting force vector F. p The constraint solver 192 then takes the output of the projected Gauss-Seidel coordinate system and transforms it from the target coordinate system TF (e.g., the constraint coordinate system) to the virtual mass coordinate system VM. For example, using equation F c =J p T F p F c It is a constraint force, and each resulting force vector F p It is converted into a force / torque vector applied to the virtual mass coordinate system.

[0174] The method of using Projected Gauss-Seidel to solve systems of equations with multiple constraints is illustrated, for example, in Marijn Tamis and Giuseppe Maggiore's "Constraint-based physics solver," dated June 15, 2015 (v1.02) (available at http: / / www.mft-spirit.nl / files / MTamis_ConstraintBasedPhysicsSolver.pdf) or Marijn Tamis's "Comparison between Projected Gauss-Seidel and Sequential Impulse Solvers for Real-Time Physics Simulations," dated July 1, 2015 (v1.01) (available at http: / / www.mft-spirit.nl / files / MTamis_PGS_SI_Comparison.pdf), both of which are hereby incorporated herein by reference in their entirety.

[0175] The projective Gauss-Seidel method solves the linear complementarity problem (LCP). Inequalities associated with LCP arise because some constraint types (e.g., unilateral virtual constraints VC, such as boundary constraints BC) can only push or “apply force” in one direction (e.g., positive constraint force). If the computational force against such a virtual constraint VC is negative (or more broadly, outside its permissible range) in a given iteration of constraint solver 192, i.e., invalid, the given virtual constraint VC must be pruned (or alternatively, its upper or lower permissible values ​​FLU, FLO must be restricted / capped) and the remaining constraints solved until a suitable result (e.g., convergence) is found. In this way, constraint solver 192 determines the set of active virtual constraint VCs for a given time step and then solves for their values. Other virtual constraint VC types can apply force in both positive and negative directions (e.g., bilateral virtual constraint VCs). Such virtual constraint VCs include guiding constraints GC used to guide the user to move tool 104 toward the target state ST. Such bilateral virtual constraint VCs are typically active during iterations of constraint solver 192 when enabled and are not pruned / restricted.

[0176] The constraint force F calculated by constraint solver 192 c This includes three force components along the x, y, and z axes and three torque components around the x, y, and z axes. Virtual Simulator 194 utilizes constraint forces F in its Virtual Simulation VS. c and external force F cgext Damping force F 阻尼 and inertial force F 惯性(All of these can include six force / torque components). In some cases, these force / torque components are first transformed to a common coordinate system (e.g., a virtual mass coordinate system VM), and then summed to define the total force F. T The resulting six-DOF forces (e.g., force and torque) are applied to the virtual rigid body VRB, and the resulting motion is calculated by the virtual simulator 194. The virtual simulator 194 thus functions to effectively simulate, among other things, how various virtual constraints VC affect the motion of the virtual rigid body VRB. This is based on the application of a given total force F to the virtual rigid body VRB. T The virtual simulator 194 performs forward dynamics to calculate the resulting six-DOF pose and velocity of the virtual rigid body VRB. In some embodiments, the virtual simulator 194 includes a physics engine implemented as executable software stored in a non-transitory memory 140 of any one or more of the previously mentioned controllers 132, 134, 136 and implemented by the control system 124.

[0177] For the Virtual Simulation VS, the Virtual Simulator 194 models the Tool 104 as a Virtual Rigid Body VRB in a Virtual Mass Coordinate System VM, where the origin of the Virtual Mass Coordinate System VM is located at the centroid of the Virtual Rigid Body VRB, and the coordinate axes are aligned with the principal axes of the Virtual Rigid Body VRB. For the purposes of the Virtual Simulation VS, the Virtual Rigid Body VRB is a dynamic object and is the rigid body representation of the Tool 104. According to the Virtual Simulation VS, the Virtual Rigid Body VRB moves freely in Cartesian space with six degrees of freedom (DOF). The Virtual Simulation VS can be computationally processed without visual or graphical representation. Therefore, the Virtual Simulation VS does not need to display the dynamics of the Virtual Rigid Body VRB. In other words, it is not necessary to model the Virtual Rigid Body VRB within a graphics application running on the processing unit. The Virtual Rigid Body VRB may exist solely for the Virtual Simulation VS. However, other configurations are envisioned.

[0178] The virtual rigid body VRB and its properties (e.g., mass, inertia matrix, center of mass, principal axis, etc.) define how tool 104 will respond to applied forces and torques (e.g., from the total force F). TThe virtual rigid body VRB moves in response to the forces and torques applied by the user, as well as virtual attraction forces (VF and / or torques). The virtual rigid body VRB controls whether the tool 104 feels heavy or light and how it moves in response to applied forces and torques (e.g., accelerating in translation and / or rotation). By adjusting the characteristics of the virtual rigid body VRB, the control system 124 can adjust the user's perception of the tool 104. For example, to provide the most realistic motion / feel, it might be desirable to model the characteristics of the virtual rigid body VRB to reasonably approximate the actual characteristics of the tool 104, but this is not necessary. For reasons of control stability (e.g., taking into account the finite acceleration of the manipulator, control delay, etc.), the virtual mass and inertia can be modeled as slightly higher than the virtual mass and inertia of the physical tool 104.

[0179] The virtual rigid body VRB may correspond to a component that may be on or within the tool 104. Alternatively, the virtual rigid body VRB may extend partially beyond the physical tool 104. The virtual rigid body VRB may be considered as a tool 104 with an energy applicator 114 or as a tool 104 without an energy applicator 114. Furthermore, the virtual rigid body VRB may be based on the tool's center point TCP. In one instance, the center of mass of the virtual rigid body VRB is understood as the point around which the virtual rigid body VRB will rotate when a virtual force is applied to another point on the virtual rigid body VRB and the virtual rigid body VRB is otherwise unconstrained (e.g., not constrained by the manipulator 102). The center of mass of the virtual rigid body VRB may be close to, but not necessarily the same as, the actual center of mass of the tool 104. The center of mass of the virtual rigid body VRB may be determined empirically. Once the tool 104 is attached to the manipulator 102, the position of the center of mass can be reset to suit the preferences of an individual user.

[0180] The virtual simulator 194 effectively simulates the rigid body dynamics of tool 104 by virtually applying forces and / or torques to the virtual rigid body VRB in the virtual simulation VS, such as by virtually applying a total force F at the center of mass of the virtual rigid body VRB in the virtual mass coordinate system VM. T The force and torque components. Therefore, the force / torque virtually applied to the virtual rigid body VRB can include the force and torque components related to the external force F. cgext (For example, based on inputs from one or more sensors 180) the associated force / torque, damping force F 阻尼 Inertial force F 惯性 and the constraint forces F derived from various virtual constraints VC. c Force / torque (due to the constraint force F) c middle).

[0181] The rigid body Jacobian matrix can be used to transform velocities and forces from one coordinate system (or "reference frame") to another coordinate system on the same virtual rigid body VRB, and here it can be used to transform external forces F ext The forces and torques are transformed to a virtual mass coordinate system VM (e.g., to obtain the external force F used in the constraint equation CEQ). cgext The virtual simulator 194 then internally calculates the damping force F. 阻尼 and inertial force F 惯性 To determine the total force F T It also outputs damping force F 阻尼 and inertial force F 惯性 This is for use by the constraint solver 192 in its system of equations in the next time step.

[0182] like Figure 9 and Figure 10 The Virtual Forward Dynamics (VFA) algorithm shown can be used in the virtual simulation VS to simulate a virtual rigid body VRB under the application of a total force F. T The motion of VS when moving. In fact, the Virtual Forward Dynamics (VFA) algorithm solves the equation F = ma (or a = F / M) over six degrees of freedom (DOF) and integrates the acceleration to obtain the velocity, which is then used to determine the new pose, such as... Figure 10 As shown. The control system 124 will apply virtual force and / or torque (e.g., total force F) T The virtual forces and / or torques are input into the virtual simulator 194, and these virtual forces and / or torques are applied to the center of mass (e.g., CG) of the virtual rigid body VRB in the virtual simulation VS when the VRB is in an initial posture with an initial velocity. In response to the control system 124 satisfying the input virtual forces and / or torques, the virtual rigid body VRB is moved in Cartesian space to a final posture with a different state (e.g., position and / or orientation) and a final velocity. The next command posture CP to be sent to motion control 182 is based on the final posture calculated by the virtual simulator 194. Therefore, the virtual simulator 194 operates by using, as Figure 10 The virtual forward dynamics simulation shown applies a total force F to the virtual rigid body VRB. T The effect determines the next command posture (CP).

[0183] In the virtual simulation VS, a velocity limit VL can be imposed on the virtual rigid body VRB. In some cases, the velocity limits VL can be set high so that they generally do not affect the virtual simulation VS, or they can be set to any desired value. At the beginning of each iteration of the virtual simulation VS (e.g., at each time step / interval dt), the virtual rigid body VRB is in an initial pose (e.g., initial state) and has an initial velocity. The initial pose and initial velocity can be defined as the final pose and final velocity output by the virtual simulator 194 in the previous time step.

[0184] Ultimately, the virtual simulator 194 calculates and outputs the next command posture CP based on its virtual simulation VS. The control system 124 is configured to command the manipulator 102 to move the tool 104 based on the command posture CP. This ideally causes the tool 104 to move in a manner that guides the user to place the tool 104 in the target state ST by providing tactile feedback to the user. Therefore, the user can manually manipulate the tool 104 while the control system 124 assists in guiding the tool's movement by utilizing the guiding constraint GC. The forces and torques applied to the tool 104 by the user (e.g., detected by sensor 180) can still affect the overall movement of the tool 104 because the external force F is applied before the virtual simulation VS is run to determine the command posture CP. ext With constraint force F c Combined. In some cases (e.g., time step), the total force F T Including external force F ext The force and torque components, the magnitude and direction of which are sufficient to overcome the constraint force F c The force and torque allow tool 104 to move away from the target state ST. However, as noted above, the guiding constraint GC has configurable stiffness and damping (e.g., based on spring parameters PS and damping parameters PD), which, in some cases, can be tuned to allow the external force F to move away from the target state ST. ext The impact is reduced.

[0185] Figure 11 The various steps performed by behavior control 178 are summarized. These include steps performed by constraint solver 192 and virtual simulator 194 as described above. In step 1100, the external force F is calculated based on readings obtained from sensor 180. ext In step 1102, constraint data associated with various virtual constraints VC are fed from the path handler 188, the guidance handler 190, the boundary handler 196, and / or other constraint sources to the constraint solver 192.

[0186] In steps 1104-1108, the virtual simulator 194 performs rigid body calculations to determine the inverse mass matrix M of the virtual rigid body VRB. -1 Inertial force F 惯性 and damping force F 阻尼 In steps 1110-1114, constraint solver 192 uses the output from the rigid body calculation performed in steps 1104-1108 and the constraint data provided in step 1102 to perform the previously described constraint force calculation to finally obtain the constraint force F. c In step 1116, the constraint force F is... c The external force F transformed to the virtual mass coordinate system VM ext (F cgext Damping force F 阻尼 and inertial force F 惯性 Add them together to obtain the total force F. T In step 1118, the total force F is calculated in the virtual simulation VS performed by the virtual simulator 194. T A new pose and velocity are applied to the virtual rigid body VRB in step 1120, and finally transformed to the tool center point TCP in step 1122. In step 1124, the virtual simulator 194 outputs the new command pose CP(T). TCP ) and speed (V) TCP ).

[0187] Now for reference Figure 12 The diagram schematically shows parts of the surgical system 100 (including...). Figure 1The tool 104 is one of the tools 104, and the target site TS is generally depicted, wherein the target site TS is shown supported on a working surface WS such as an operating table (not shown in detail). Here, the target site TS represents a portion of the anatomical structure of the patient P to be treated during the surgical procedure, such as bone or another type of tissue. For this purpose, the tool 104 is shown spaced from the target site TS along a trajectory T, which, as noted above, is monitored by the navigation system 128 or otherwise known from the tracked state of the first patient tracker 160A secured to the target site TS. For illustrative purposes, the first tool tracker 160G is shown as being securely fixed to the tool 104. However, while the navigation system 128 may track the state of multiple trackers 160 in a common coordinate system as noted above, the posture of the tracked object (e.g., tool 104) may be determined in other ways (e.g., based on known geometric relationships) and transformed between coordinate systems (e.g., between the manipulator coordinate system MNPL and the locator coordinate system LCLZ). In other words, the surgical system 100 can determine the pose change of the tool 104 relative to the first patient tracker 160A without having to use the illustrated first tool tracker 160G, since the geometry of the tool 104 and the energy applicator 114 is known, among other things.

[0188] In this representative example, tool 104 similarly includes mounting 148 (depicted in dashed lines) to facilitate releasable attachment to coupling 110 of manipulator 102, and instrument 112 is implemented as an electric surgical device 150 with a power generation assembly 152 (depicted in dashed lines), driven by another part of tool controller 136 or control system 124. Here, the power generation assembly 152 is implemented as a motor configured to selectively generate rotational torque about drive axis AD to drive one or more types of energy applicators 114. For this purpose, electric surgical device 150 includes chuck assembly 198 (see...). Figure 12(Depicted in dashed lines), the chuck assembly 198 is configured to rotately communicate with the power generation assembly 152 to facilitate the releasable attachment of the energy applicator 114, which in this exemplary embodiment is implemented by a bone drill 154 (attached but not shown in detail). However, the tool 104, instrument 112, and / or energy applicator 114 may have a variety of different configurations without departing from the scope of this disclosure. Here, the tool 104 includes a gripping area 200 arranged for a user to grasp, the gripping area 200 having a trigger that can act as an input device 146 (e.g., to initiate and stop rotation of the energy applicator 114). In some embodiments, the tool 104 and / or the electric surgical device 150 may be similar to that shown in U.S. Patent No. 9,566,121, previously cited, entitled “End Effector of a Surgical Robotic Manipulator.” In some embodiments, tool 104 and / or electric surgical device 150 may be similar to that shown in U.S. Patent Application Publication No. US 2018 / 0110572 A1 entitled “Systems and Tools for Use With Surgical Robotic Manipulators,” the contents of which are hereby incorporated by reference in their entirety. Other configurations are contemplated.

[0189] Continue to refer to Figure 12 The power generation assembly 152 of the electric surgical device 150 is operatively attached to the mounting 148 via a frame 202 (generally depicted in dashed lines), such as by one or more fasteners (not shown). While the frame 202 and mounting 148 are formed separately in the illustrated embodiment, other configurations are contemplated, and the mounting 148 may be formed or otherwise implemented by any suitable number of components sufficient to facilitate coupling to the manipulator 102. Similarly, the frame 202 may be similarly defined by a plurality of different components that cooperate to support the power generation assembly 152 and other portions of the tool 104. In some embodiments, the tool 104 may employ one or more covers 204 to conceal, protect, or otherwise shield certain components (e.g., the mounting 148) from external environmental influences. Cover 204 may also conceal electrical components (e.g., wires, electrical connectors, printed circuit boards, etc.) and may be shaped and arranged to allow access to a sterile interface system (not shown, but generally known in the relevant art), which is arranged between mount 148 and coupling 110 of manipulator 102 to facilitate removable attachment of tool 104 to manipulator 102. Here, a variety of different methods sufficient to secure tool 104 to manipulator 102 can be used to achieve releasable attachment of coupling 110 to mount 148.

[0190] exist Figure 12 In the diagram, a portion of the target region TS is shown as a dashed line to depict the expected volume of tissue (e.g., bone) to be removed by the bone drill 154 along trajectory T. For illustrative purposes, trajectory T serves as the milling path MP in this representative example. Similarly, the expected "depth" of tissue removal at the target region TS is represented by the target reference point TRP, which, like the tool center point TCP, can be defined as a coordinate system. Here, both the tool center point TCP and the target reference point TRP are shown arranged along trajectory T.

[0191] from Figure 12 Continue to Figure 13A The tool 104 has been advanced along trajectory T to engage the target site TS, such as by manipulating the manipulator 102 in one or more of the various modes described herein, wherein the bone drill 154 of the energy applicator 114 is positioned along trajectory T maintained by the manipulator 102. More specifically, the tool center point TCP of the energy applicator 114, defined by the bone drill 154, is positioned along trajectory T, wherein the energy applicator 114 rotates about a drive axis AD, which is also aligned with trajectory T. Here, the tool center point TCP is spaced apart from the target reference point TRP to illustrate the remaining volume of tissue (e.g., bone) that will be removed by the bone drill 154 as the tool 104 advances along trajectory T. This is in Figure 13B The description in the middle, Figure 13B The tool center point TCP is shown, positioned closer to the target reference point TRP (compare). Figure 13B and Figure 13A ).

[0192] Figures 14A to 14D The following are hypothetical "escape" conditions that may occur in certain use cases of the surgical system 100, whereby another part of the energy applicator 114 or tool 104 becomes effectively "attached" to the manipulator 102, causing the target site TS and tool 104 to move together briefly or for an extended period of time with one or more degrees of freedom (DOF). Here, by way of illustration, the energy applicator 114 may potentially encounter changes in tissue type or properties, irregularities, or other types of increased resistance such as friction and / or heat, reduced cutting performance, accumulation of tissue debris (e.g., "shavings"), which may be significant enough to interrupt tissue removal and cause the energy applicator 114 to be "locked" to the tissue at the target site TS briefly or for an extended period of time. In some cases, the aforementioned resistance may cause the energy applicator 114 to deviate from its trajectory T and be "locked" to the tissue at the target site TS.

[0193] The above hypothetical scenarios can be compared Figures 14A to 14B Let's take an example. Here, in... Figure 14AIn the process, the energy applicator 114 is engaging the target region TS and encounters significant resistance to rotation around the drive axis AD. This causes the tool center point TCP to deviate from the trajectory T maintained by the manipulator 102, and results in the energy applicator 114 becoming "locked" to the target region TS, as if by... Figure 14B The exaggerated misalignment between the illustrated trajectory T and the drive axis AD is depicted. While the target state ST of tool 104 can be defined in many different ways, in this representative example, for illustrative purposes, the target state ST includes the coincident alignment between the drive axis AD and the trajectory T. However, due to... Figure 14B The current state SC of the tool 104 shown includes a misalignment between the drive axis AD and the trajectory T, where the energy applicator 114 is “locked” to the target site TS. Therefore, an “escape” condition may occur when the manipulator 102 attempts to move from the current state SC to the target state ST. An “escape” condition may also occur due to the patient tracker 160 becoming loose from the target site TS, resulting in a loss of tracking accuracy.

[0194] In this illustrative instance, and as through successive comparisons Figures 14B to 14D As shown, the movement of tool 104 toward target state ST also causes a corresponding movement of target site TS. As noted above, the corresponding movement of target site TS is defined by the tracked state of the first patient tracker 160A monitored by navigation system 128, which defines the trajectory T (and therefore the target state ST). In other words, when manipulator 102 attempts to move tool 104 from the current state SC to target state ST (e.g., to bring drive axis AD back to coincidence with trajectory T), target site TS moves with tool 104 and does not reach target state ST (e.g., no coincidence occurs). Figures 14C to 14D As described, this can ultimately lead to the target part TS being "lifted" from the working surface WS.

[0195] This document discloses various techniques for detecting and / or responding to “escape” conditions when they occur. To this end, and as described in more detail below, in some embodiments, surgical system 100 employs tool 104 to engage target site TS, wherein manipulator 102 is configured to support tool 104 relative to target site TS (e.g., in which the tool's center point TCP is positioned along trajectory T in target state ST). As described in more detail below, sensing system 206 (see...) Figures 1 to 2 The system is configured to detect one or more system conditions SYC associated with one or more of the tool 104, manipulator 102, target site TS, or combinations thereof. A controller 124 (e.g., manipulator controller 132, tool controller 136, or another suitable controller of the surgical system 100; see also...) is coupled to the manipulator 102 and the sensing system 206. Figure 25The controller 124 is configured to operate the manipulator 102 between the following modes: a first mode M1, which is used to maintain the alignment of the tool 104 relative to the target site TS according to a first constraint criterion C1; and a second mode M2, which is used to maintain the alignment of the tool 104 relative to the target site TS according to a second constraint criterion C2 different from the first constraint criterion C1. The controller 124 is further configured to change the operation of the manipulator 102 from the first mode M1 to the second mode M2 ​​in response to determining that at least one of one or more system conditions SYC satisfies a predetermined condition PR. While the sensing system 206, system conditions SYC, first mode M1 and second mode M2, first constraint criterion C1 and second constraint criterion C2, and predetermined condition PR are each described in more detail below, the tool 104, which engages the target site TS via the energy applicator 114, can be used in conjunction with the implantable component 116, utilizing the techniques described herein, such as... Figure 15 The above is a description. However, other configurations are envisioned, and other technologies are described in more detail below.

[0196] In some embodiments, the first mode M1 and the second mode M2 ​​are separate and discrete operating modes of the manipulator 102 that can be activated and deactivated, such as those in which the user can be directly notified of a mode change or in which there is a pause between mode changes. However, alternatively, in another embodiment, the first mode M1 and the second mode M2 ​​can be understood as different ways of controlling the manipulator 102 according to a feedback control scheme. For example, constraint criteria C1, C2 can change in real time or near real time without activating or deactivating any particular mode, without directly notifying the user, or without a pause between mode changes. In other words, constraint criteria C1, C2 can change in a seamless manner, with or without the user even knowing or activating any mode M1, M2. Any combination of these embodiments is contemplated, and the terms "first mode" and "second mode" should be understood to include any of these embodiments in a non-limiting manner.

[0197] In one implementation, the values ​​of the first constraint criterion C1 and the second constraint criterion C2, and any parameters associated therewith, are determined or predetermined preoperatively based on information such as clinical data, experimental data, surgeon preferences, or system default settings. In another implementation, the values ​​of the first constraint criterion C1 and the second constraint criterion C2, and any parameters associated therewith, may be dynamically and intraoperatively determined and / or adjusted by the controller based on measurements from sensing systems, sensors, navigation systems, etc., of the detection system condition SYC or the force occurring between the target site and the manipulator. In other implementations, one of the first constraint criterion C1 and the second constraint criterion C2 is determined or predetermined preoperatively, and the other of the first constraint criterion C1 and the second constraint criterion C2 is determined intraoperatively.

[0198] Now for reference Figure 15 Surgical system 100 (including) Figure 1 One of the tools 104 is shown adjacent to the generally depicted target site TS. In this embodiment, tool 104 is configured to facilitate impact on the implantable component 116 (e.g., a reamed acetabulum) at the target site TS (e.g., a reamed acetabulum) along a trajectory T maintained by manipulator 102. For this purpose, the instrument 112 of tool 104 is implemented as a guide 208, which, among other things, is configured to attach to the coupling 110 of robotic arm 108 and support impactor assembly 210 for relative movement in one or more degrees of freedom, as described in more detail below. Impactor assembly 210 includes, among other things: an interface 212 for releasably securing the implantable component 116; and a head 214 arranged to receive (e.g., an impact force FI, such as that applied by striking the head 214 with a mallet).

[0199] In the representative embodiment illustrated herein, the implantable component 116 is a generally hemispherical cup that forms part of an artificial hip joint adapted to impact the acetabulum of patient P. Prior to impact, the acetabulum of patient P is reamed or otherwise prepared to define the target site TS. The reaming, preparation, and impact processes are described in detail in U.S. Patent No. 8,979,859 entitled "Depthof Impaction" and U.S. Patent No. 8,753,346 entitled "Tool, Kit-of-Parts for Multi-Functional Tool, and Robotic System for Same," the disclosures of which are hereby incorporated by reference in their entirety. While this disclosure describes various orthopedic procedures for the hip joint, the subject matter described herein is applicable to other joints in patient P's body B, such as, for example, the shoulder, elbow, wrist, spine, knee, foot, and ankle. Furthermore, the surgical system 100 of this disclosure can be used in conjunction with a variety of different types of orthopedic procedures, and the implantable component 116 can have a variety of different types, styles, configurations, etc. (e.g., cups, handles, screws, pins, rods, wires, anchors, prostheses, etc.). Therefore, various tools 104 are contemplated, and various styles, types, and / or configurations of guides 208, impactor assemblies 210, and / or implantable components 116 can be utilized without departing from the scope of this disclosure.

[0200] Now for reference Figures 15 to 17B A representative embodiment of guide 208 is configured to facilitate advantageous positioning of the implantable component 116 together with the impactor assembly 210 before the movement of the impactor assembly 210 is restricted by support from guide 208 (and therefore manipulator 102). In other words, a user (e.g., a surgeon) can manually approach the target site TS with the implantable component 116 without initially supporting the impactor assembly 210 with guide 208. After the manual approach is completed and the implantable component 116 has been positioned at the target site TS, the surgeon can then quickly, effectively, and reliably hinge the implantable component 116 and the impactor assembly 210 to engage with guide 208 to facilitate alignment of the implantable component 116 with the trajectory T maintained by manipulator 102. With proper alignment maintained, the surgeon can apply an impact force FI to the head 214 of the impactor assembly 210 to install the implantable component 116 into the target site TS. Therefore, as described in more detail below, the guide 208 is configured to allow the impactor assembly 210 to move relative to the guide 208 with one or more degrees of freedom under certain operating conditions of the surgical system 100.

[0201] Now for reference Figures 16A to 16BAs noted above, the impactor assembly 210 typically includes an interface 212 for releasably securing the implantable member 116 and a head 214 arranged to receive the impact force FI. The impactor assembly 210 also includes a flange 216 defining a first engagement surface 218, which, as described in more detail below, abuts the guide 208 to limit movement of the impactor assembly 210 during use. The impactor assembly 210 typically extends along a first axis A1 between a distal end 220 adjacent to the interface 212 and a proximal end 222 adjacent to the head 214. The flange 216, arranged between the interface 212 and the head 214, has a spherical profile defining the first engagement surface 218 and defines a flange reference point FRP along the first axis A1, the flange reference point FRP being disposed at the center of the flange 216 (e.g., at the geometric center of the spherical profile defining the first engagement surface 218). Similarly, the implantable component 116 defines an implant reference point IRP along the first axis A1 of the impactor assembly 210, to which the prosthesis is releasably attached (see...). Figure 15 ), and the target location TS defines the target reference point TRP along the trajectory T (see Figure 15 Shaft 224 extends along the first axis A1 from the distal end 220 to the flange 216, and a handle 226 with a handle 228 extends between the flange 216 and the head 214. Each of the components of the impactor assembly 210 described above will be described in more detail below.

[0202] In the representative embodiment illustrated herein, the head 214, flange 216, and shaft 224 are defined by an impactor body, generally indicated by 230, and the interface 212 is defined by a carrier shaft 232 housed within the impactor body 230. More specifically, the impactor body 230 defines a hollow region 234 extending along a first axis A1 from the distal end 220 through the shaft 224 and the handle 226 toward the head 214. The carrier shaft 232 generally extends along the first axis A1 between a distal shaft end 236 and a proximal shaft end 238, between which one or more bearing regions 240 are provided to facilitate rotation and force distribution. The interface 212 is disposed at the distal shaft end 236 and releasably engages the implantable component 116, such that the impactor assembly 210 and the implantable component 116 move together upon attachment. For this purpose, interface 212 and implantable component 116 are each provided with corresponding threaded engagements (e.g., internal and external threads; see also 242). Figure 16A This allows the implantable component 116 to be releasably attached to the impactor assembly 210.

[0203] Adjacent to the threaded engagement 242 of the bearing shaft 232, the impactor body 230 is provided with a key portion 244 formed at the distal end 220 of the shaft 224. The key portion 244 has a generally rectangular profile, which is shaped to engage a correspondingly shaped notch portion 246 formed in the implantable component 116 (see...). Figure 15 A; depicted in dashed lines). This configuration allows the implantable component 116 to rotate relative to the shaft 224 (and therefore the handle 226), which may be advantageous for applications where the implantable component 116 has certain features requiring alignment with the target site TS. Furthermore, this configuration helps facilitate a releasable attachment between the implantable component 116 and the impactor assembly 210, as rotation and translation of the support shaft 232 relative to the shaft 224 can be used to disengage the threaded engagement portion 242 without also rotating the shaft 224 about the first axis A1. For this purpose, the handle 226 is also provided with a cage 248 disposed between the head 214 and the handle 228, the cage 248 being shaped to accommodate and facilitate access to the knob 250, which is then operably attached to the proximal shaft end 238 of the support shaft 232. In the illustrated embodiment, the knob 250 includes an axial knob hole 252 formed along a first axis A1, and a transverse knob hole 254 formed transversely to the first axis A1 and configured to communicate with the axial knob hole 252. The axial knob hole 252 is shaped to receive the proximal shaft end 238 of the support shaft 232, and the transverse knob hole 254 is shaped to receive a transverse pin 256, which is also received within the transverse shaft hole 258 formed in the support shaft 232 (see [link]). Figure 16B In addition to ensuring the retention of the support shaft 232, this configuration also allows the knob 250 and the support shaft 232 to rotate and translate simultaneously about the first axis A1. Here, the cage 248 of the handle 226 has a generally U-shaped profile and is configured to allow limited translation of the knob 250 along the first axis A1, while also allowing the surgeon to access the knob 250.

[0204] Now for reference Figure 15 and Figures 17A to 17B As noted above, an exemplary embodiment of tool 104 includes a guide 208 to releasably secure the impactor assembly 210 in order to, among other things, facilitate the alignment of the trajectory T of the robotic arm 108 via manipulator 102 with the first axis A1. For this purpose, guide 208 typically includes a mounting 148 adapted for attachment to manipulator 102 (see...). Figure 15 (Generally depicted with dashed lines), and a body 260 operatively attached to the mounting 148 and having a channel 262 extending along the second axis A2. In the representative embodiment illustrated herein, the body 260 of the guide 208 is provided with one or more threaded holes 264 and recessed areas 266 (see...). Figures 17A to 17B The one or more threaded holes 264 and the recessed area 266 are shaped and arranged to be fastened to the mounting member 148, such as by means of fasteners (not shown). Figure 15 (Generally described). Although in the illustrated implementation scheme Figure 15 The depicted mounting 148 is formed separately from the body 260, but other configurations are contemplated, and the guide 208 may be formed or otherwise implemented by any suitable number of components sufficient to facilitate attachment to the manipulator 102. Similarly, in some embodiments, the guide 208 of the tool 104 may employ one or more covers 204 to conceal, protect, or otherwise shield certain components (e.g., the mounting 148) from external environmental influences. The covers 204 may also conceal electrical components (e.g., wires, electrical connectors, printed circuit boards, etc.) and may be shaped and arranged to allow access to a sterile interface system (not shown, but generally known in the relevant art), arranged between the mounting 148 and the coupling 110 of the robotic arm 108 to facilitate removable attachment of the tool 104 to the manipulator 102. Again, releasable attachment of the coupling 110 to the mounting 148 may be achieved in a variety of different ways sufficient to secure the tool 104 to the manipulator 102.

[0205] like Figures 17A to 17B As shown, a channel 262 formed in the body 260 of the guide 208 defines an opening 268, which is arranged to receive a portion of the shaft 224 of the impactor assembly 210 through which it passes. The guide 208 also includes a second engagement surface, generally indicated by 270 (see also...). Figure 15 The second mating surface 270 is shaped to abut the first mating surface 218, and the limiter 272 is configured to maintain the abutment between the mating surfaces 218 and 270 and to facilitate coaxial alignment of axes A1, A2 with the trajectory T maintained by the manipulator 102. The opening 268 of the guide 208 is arranged to allow the shaft 224 of the impactor assembly 210 to pass through it when the guide 208 is positioned between the flange 216 and the interface 212 of the impactor assembly 210, thereby facilitating alignment of the first axis A1 with the second axis A2. Figure 16A Depicted in dashed lines, the shaft 224 of the impactor assembly 210 has a first periphery 274, and the flange 216 of the impactor assembly 210 has a second periphery 276 that is larger than the first periphery 274. In other words, the flange 216 is larger than the shaft 224 and cannot pass through the opening 268 of the guide 208, but the shaft 224 is sized to pass through the opening 268.

[0206] Continue to refer to Figures 17A to 17BAs noted above, the restrictor 272 of guide 208 is configured to maintain abutment between the first engagement surface 218 and the second engagement surface 270 during impact, and helps to facilitate coaxial alignment of axes A1, A2 with the trajectory T maintained by manipulator 102. For this purpose, the restrictor 272 of the illustrated embodiment includes a pair of fingers, typically indicated by 278, disposed adjacent to channel 262. The fingers 278 extend from the body 260 of guide 208 to corresponding finger ends 280 spaced apart from each other, to define an opening 268 between them (see [link to relevant documentation]). Figure 15 The fingers 278 also each define a corresponding arcuate surface, generally indicated by 282. The arcuate surface 282 is arranged to contact the flange 216 of the impactor assembly 210 when the second engagement surface 270 abuts the first engagement surface 218, which maintains the abutment of the first engagement surface 218 with the second engagement surface 270 and restricts movement of the impactor assembly 210 relative to the guide 208, as described below. The arcuate surface 282 of the restrictor 272 is substantially connected to the second engagement surface 270 of the guide 208, and both the second engagement surface 270 and the arcuate surface 282 are at least partially defined by the channel 262. More specifically, and as... Figure 17A As best depicted in the diagram, the arcuate surface 282 of the limiter 272 and the second engagement surface 270 of the guide 208 are each spaced apart from the second axis A2 by a common radius 284, such that the channel 262 has a substantially continuous and generally cylindrical C-shaped profile, and defines both the second engagement surface 270 and the arcuate surface 282.

[0207] When an impact force FI is applied to the head 214 of the impactor assembly 210, the implantable component 116 and the impactor assembly 210 will necessarily translate along the trajectory T. Therefore, the guide 208 and the impactor assembly 210 are configured to ensure that the abutment between the first engagement surface 218 and the second engagement surface 270 is maintained as the flange 216 moves within the channel 262 (e.g., when a surgeon repeatedly strikes the head 214 of the impactor assembly 210 with a mallet). For this purpose, the channel 262 of the guide 208 extends between a first axial channel end 262A and a second axial channel end 262B, which are spaced apart from each other along the second axis A2 at a depth greater than the thickness of the flange 216 (not shown in detail). Here, in this embodiment, the guide 208 defines an tool center point TCP, which is arranged along the second axis A2 at the center of the channel 262 (e.g., equidistantly spaced between the first axial channel end 262A and the second axial channel end 262B). However, the tool center point TCP may be limited in other ways without departing from the scope of this disclosure.

[0208] Because flange 216 has a generally spherical profile as noted above, only the portion of flange 216 defining the first engagement surface 218 actually engages the cylindrical channel 262 when the second engagement surface 270 abuts the first engagement surface 218. Therefore, channel 262 is advantageously configured to be deep enough to ensure that flange 216 can be easily positioned within channel 262 and remains abutted to channel 262 during impact. However, maintaining abutment between the second engagement surface 270 and the first engagement surface 218 can be achieved in other ways, such as by advancing guide 208 along trajectory T and toward target portion TS using manipulator 102 during impact (e.g., to position tool center point TCP at flange reference point FRP). Other configurations are contemplated.

[0209] like Figure 17B As best shown, the body 260 of guide 208 also includes a recess 286 that accommodates sensor subassembly 288, driven subassembly 290, and input module 292, each of which is described in more detail below. Recess 286 extends to communicate with channel 262 to facilitate attachment of driven subassembly 290, which is seated adjacent to channel 262 within recess 286. Here, a portion of driven subassembly 290 also defines a portion of second engagement surface 270 (see [link to diagram]). Figure 17A ).

[0210] Sensor subassembly 288 typically includes a sensor housing 294 fastened to the body 260 of guide 208 via fasteners (not shown in detail) and supporting a first trigger sensor 296, a second trigger sensor 298, and an input sensor 300, each of which may be configured to communicate (e.g., wired or radio communication) with controller 124 (e.g., manipulator controller 132, tool controller 136, or another suitable controller) or other components of surgical system 100. Input sensor 300 is arranged to engage with or otherwise configure to communicate with input module 292, and the first trigger sensor 296 and second trigger sensor 298 are arranged to engage with or otherwise configure to communicate with driven subassembly 290. As will be understood from the following description, each sensor in sensor subassembly 288 can be of various different types, styles, configurations, etc., and this disclosure contemplates other configurations besides those specifically illustrated herein.

[0211] Input module 292 is configured for selective actuation by a surgeon and generally includes an input frame 302 and an input button 304. Input frame 302 is fastened to the body 260 of guide 208 via one or more fasteners (not shown in detail) and supports input button 304 for movement relative to input frame 302. Input button 304 includes a protrusion 306 arranged to engage input sensor 300 in response to actuation by the surgeon (e.g., by pressing input button 304). In some embodiments, input button 304 may be elastically biased away from input frame, such as by means of a spring (not shown). However, other configurations are contemplated. Input module 292 may be configured to facilitate operation of manipulator 102 in different ways during surgical procedures and may function as input device 146.

[0212] Similar to sensor subassembly 288, slave subassembly 290 is housed within a recess 286 formed in the body 260 of guide 208 and fastened to the body 260 using fasteners (not shown in detail). Slave subassembly 290 typically includes a slave housing 308 supporting a first trigger 310 and a second trigger 312, which, in the illustrated embodiment, are shaped and arranged to engage against a flange 216 of impactor assembly 210. For this purpose, the first trigger 310 and the second trigger 312 extend into channel 262 and are supported by slave housing 308 to deflect toward sensor subassembly 288 in response to engagement with flange 216 and independently actuate corresponding push rods (not shown) supported within slave housing 308, which respectively engage the first trigger sensor 296 and the second trigger sensor 298. Here, the follower assembly 290 and the sensor subassembly 288 facilitate the ability to determine one or more of the presence of the flange 216 within the channel 262 and / or the relative position of the flange 216 between the first axial channel end 262A and the second axial channel end 262B, such as facilitating the “tracking” movement of the implantable component 116 along the trajectory T during impact at the target site TS based on a change in the axial position of the flange 216 along the channel 262.

[0213] As noted above, the manipulator 102 is configured to position the tool 104 relative to the target site TS and maintain a trajectory T, which, in embodiments involving the impact implantable component 116, is generally linear and aligned with axes A1, A2. Here, the external impact force FI applied to the head 214 of the impactor assembly 210 is transferred through the impactor assembly 210 and reaches the implantable component 116, which in turn causes the implantable component 116 to advance along the trajectory T toward the target site TS. Although the process of impacting the implantable component 116 is described in more detail below, under certain conditions, maintaining the trajectory T may involve the manipulator 102 restricting all or some types of movement of the guide 208 relative to the target site TS, and / or in some embodiments, may involve restricting or guiding the movement of the guide 208 to translation along the trajectory T relative to the target site TS. The manipulator 102 may allow the surgeon to translate the guide 208 along the trajectory T to, among other things, facilitate the passage of the axis 224 of the impactor assembly 210 through the opening 268 of the guide 208, as noted above. Certain steps of the surgical procedure may involve controlling the manipulator 102 in different ways. Furthermore, this disclosure contemplates various configurations of the tool 104, and in some embodiments, one or more portions of the surgical system 100, tool 104, instrument 112, and / or implantable component 116 may resemble those described in U.S. Patent Application Publication No. US 2019 / 0231446 A1, entitled “End Effectors, Systems, and Methods For Impacting Prosthetics Guided By Surgical Robots,” the disclosure of which is hereby incorporated by reference in its entirety. Other configurations are contemplated.

[0214] Now for reference Figures 18 to 21D The diagram schematically illustrates a portion of the surgical system 100, and generally depicts the target site TS, which is shown supported on a working surface WS (e.g., an operating table; not shown in detail). Here, the target site TS represents the intended location of the implantable component 116 upon impact with the acetabular cup. Figure 18 (The intended position is shown in dashed lines). Here, the acetabulum has been prepared by reaming or otherwise to define the trajectory T and has a first patient tracker 160A securely attached thereto. As noted above, the tracked state of the first patient tracker 160A monitored by the navigation system 128 (e.g., position and / or orientation data, or data based thereon) is used to facilitate maintaining the target state SA to ensure that the manipulator 102 is aligned with the target site TS, such as by controlling the manipulator 102's robotic arm 108 to keep the second axis A2 defined by the guide 208 coincidentally aligned with the trajectory T defined by the target site TS.

[0215] exist Figure 18 In the middle, the mounting part 148 of tool 104 (represented by cover 204 for illustrative purposes; see also) Figure 15 The guide 208 is positioned adjacent to the target portion TS supported by the manipulator 102 (partially depicted and shown in dashed lines), with the second axis A2 aligned with the trajectory T (and thus the tool center point TCP arranged along the trajectory T). The impactor assembly 210 is shown spaced apart from the target portion TS and the guide 208, with the implantable component 116 fastened to the interface 212 and arranged along the first axis A1. For illustrative purposes, the first tool tracker 160G is shown as securely attached to the guide 208, and the second tool tracker 160I is shown as securely attached to the impactor assembly 210. However, while the navigation system 128 can track the state of multiple trackers 160 in a common coordinate system as indicated above, the posture of the tracked object (e.g., tool 104) can be determined in other ways (e.g., based on known geometric relationships) and transformed between coordinate systems (e.g., between the manipulator coordinate system MNPL and the locator coordinate system LCLZ). In other words, the surgical system 100 can determine the change in posture of the tool 104 relative to the first patient tracker 160A without using the illustrated first tool tracker 160G and / or second tool tracker 160I, because, among other things, the geometry of the guide 208, the impactor assembly 210, and the implantable component 116 is known, and the arrangement of the flange reference point FRP relative to the tool center point TCP can be determined (e.g., via the sensor subassembly 288) when the flange 216 is positioned within the channel 262.

[0216] Now for reference Figure 19A The impactor assembly 210, together with the implantable component 116, has been moved to an initial position adjacent to the target site TS (here, the enlarged acetabulum), wherein the first axis A1 defined by the impactor assembly 210 is coaxially aligned with the second axis A2 defined by the guide 208 and the trajectory T defined by the target site TS. Here, the flange 216 of the impactor assembly 210 is disposed within the channel 262 of the guide 208, wherein the flange reference point FRP is configured to be aligned with the tool center point TCP. The implant reference point IRP defined by the implantable component 116 is spaced apart from the target reference point TRP defined by the target site TS.

[0217] As noted above, when operating in guided-tactile mode or other modes, the surgical system 100 can be configured to interpret forces detected by the sensor 180 as inputs for driving the robotic arm 108 of the manipulator 102. Among other things, this allows the surgeon to contact or otherwise engage different parts of the robotic arm 108 and / or the tool 104 to move them in certain directions during certain operating conditions. To illustrate this concept, Figure 19A Describes forces such as FA applied to the guide 208 as a result of surgeons pushing and / or pulling (not shown in detail) on the guide 208 or the impactor assembly 210 with their hands. For illustrative purposes, if the manipulator 102 is not configured as depicted herein to maintain alignment with the trajectory T (e.g., where the target state ST is defined to result in coincident alignment between the second axis A2 and the trajectory T), then Figure 19A The applied force FA, as depicted, can cause tool 104 (via robotic arm 108) to move to... Figure 19B The depicted arrangement causes axes A1 and A2 to decouple from the alignment of trajectory T (e.g., as shown in the image). Figure 19A (As depicted). In this hypothetical illustrative example, the surgeon can operate the robotic arm 108 in manual mode or (e.g., activated via input button 304) another mode to fine-tune or finalize their approach to the target site TS and initially position the implantable component 116 to engage with the target site TS before impact, subsequently aligning axes A1, A2 with the trajectory T defined by the target site TS and maintaining alignment with the manipulator 102, as shown. Figure 20A exemplified.

[0218] exist Figure 20A In the illustrated example, manipulator 102 is operated to maintain alignment (e.g., via coincidence with trajectory T) of the second axis A2 (defined by guide 208) with the target site TS, which is also aligned with the first axis A1 (defined by impactor assembly 210). Here, the target state ST can be defined by the tool center point TCP set along trajectory T. With alignment maintained by manipulator 102 as illustrated here, the surgeon can apply impact force FI to the head 214 of impactor assembly 210, such as by repeatedly striking the head 214 with a mallet (not shown) to install the implantable component 116 into the target site TS. Figure 20B As illustrated, in response to the appropriate application of impact force FI to head 214, impactor assembly 210 and implantable component 116 move together along trajectory T to align implant reference point IRP (defined by implant component 116) with target reference point TRP (defined by target site TS).

[0219] Here, the manipulator 102 can be configured to advance the guide 208 along the trajectory T toward the target site TS during impact, between hammer blows, so that the tool center point TCP (defined by the channel 262 of the guide 208) returns to alignment with the flange reference point FRP (defined by the flange 216 of the impactor assembly 210), as noted above. This can be determined via the follower sub-assembly 290 and / or the sensor sub-assembly 288 and / or via the navigation system 128 based on the tracked state of the second tool tracker 160I and the first tool tracker 160G. If, for example, the axial channel ends 262A, 262B are spaced apart by a sufficiently large distance to ensure that the flange 216 will remain engaged with the channel 262 during impact, the manipulator 102 may not need to advance the guide 208 along the trajectory T. This may be advantageous in embodiments where the surgical system 100 is able to determine the relative position of the flange 216 along the channel 262 with high precision, for example, by using a linear variable differential transformer (LVDT) coil arrangement coupled to the tool 104. Embodiments of this type of LVDT coil arrangement are described in the previously cited U.S. Patent Application Publication No. US 2019 / 0231446 A1, entitled “End Effectors, Systems, and Methods For Impacting Prosthetics Guided By Surgical Robots.” Other configurations are contemplated.

[0220] As noted above, the illustrated embodiment of tool 104 is typically configured to allow translation of the impactor assembly 210 relative to the guide 208 to facilitate engagement of the implantable component 116 with the target site TS. Furthermore, embodiments of tool 104 are also typically configured to allow rotation of the impactor assembly 210 relative to the guide 208 with one or more degrees of freedom, and / or vice versa. This relative rotation is achieved through a bearing-type contact (e.g., sliding contact) between the first engagement surface 218 and the second engagement surface 270. Here, the ability of the impactor assembly 210 to rotate and translate relative to the guide 208 helps prevent a significant amount of force and / or torque, such as, for example, during the application of the impact force FI, from the impactor assembly 210 to the guide 208 (and thus to the manipulator 102). However, due to the physical contact between the guide 208 and the impactor assembly 210, a certain amount of force and / or torque is necessarily transferred to the manipulator 102 with one or more degrees of freedom DOF.

[0221] exist Figure 21A In this context, the impactor assembly 210, guide 208, implantable component 116, and manipulator 102 are typically connected with... Figure 20AThe same arrangement is depicted, wherein the second axis A2 (defined by guide 208) is aligned with the target site TS (e.g., via coincidence with trajectory T), the target site TS is also aligned with the first axis A1 (defined by impactor assembly 210), and wherein the implantable component 116 is arranged to engage the target site TS prior to impact. However, in Figure 21A In this context, the impact force FI is shown as being improperly applied to the head 214 of the impactor assembly 210 (e.g., laterally to the trajectory T). Here, improper application of the impact force FI (e.g., relatively high and / or misaligned with the trajectory T) may cause the implantable component 116 to be seated (e.g., partially seated) in the target site TS in a manner misaligned with the trajectory T (e.g., where the first axis A1 and the second axis A2 do not coincide with the trajectory T). Figure 21B The text depicts this hypothetical scenario. Figure 21B For illustrative purposes, an exaggerated misalignment between axes A1, A2 and trajectory T is shown.

[0222] exist Figure 21B In the middle, like the combination above Figures 14A to 14D As in the described scenario, a hypothetical "escape" condition may occur for the surgical system 100 due to misalignment with trajectory T. Here, the improper application of the impact force FI has caused the implantable component 116 to be positioned in the target site TS such that the first axis A1 and the second axis A2 are misaligned with trajectory T. Although the target state ST of the tool 104 can be defined in many different ways, in this representative example, for illustrative purposes, the target state ST includes (or otherwise results in) a coincident alignment between the second axis A2 and trajectory T (e.g., where the tool center point TCP is set along trajectory T). However, due to Figure 21B The current state SC of the tool 104 shown includes a misalignment between the second axis A2 and the trajectory T, where the implantable component 116 is "locked" to the target site TS. Therefore, a similar "escape" condition can occur when the manipulator 102 attempts to move from the current state to the target state ST. The "escape" condition can also occur due to the patient tracker 160 becoming loose from the target site TS, resulting in a loss of tracking accuracy.

[0223] In this illustrative instance, and as through successive comparisons Figures 21B to 21DAs shown, the movement of tool 104 (e.g., guide 208) toward target state ST (e.g., to bring the tool center point TCP back onto trajectory T) also causes a corresponding movement of target site TS, which, as noted above, is defined by the tracked state of the first patient tracker 160A monitored by navigation system 128, defining trajectory T (and therefore target state ST). In other words, when manipulator 102 attempts to move tool 104 (e.g., guide 208) from current state SC to target state ST (e.g., to bring the first axis A1 and the second axis A2 back to coincide with trajectory T), target site TS moves with tool 104 and does not reach target state ST (e.g., no coincidence occurs). Similarly, here, as Figures 21C to 21D As described, this can ultimately lead to the target part TS being "lifted" from the working surface WS.

[0224] As noted above, this disclosure contemplates various techniques for detecting and / or responding to an "escape" condition when it occurs, including: a surgical system 100 that utilizes a tool 104 with an instrument 112, such as a guide 208, to support an impactor assembly 210 to facilitate engagement of the implantable component 116 with a target site TS (e.g., as described above). Figures 18 to 21D (as described); and a surgical system 100 that utilizes a tool 104 having an instrument 112 such as an electric surgical device 150 to facilitate the engagement of an energy applicator 114 with a target site TS (e.g., as described above). Figures 12 to 14D (As described above). To this end, controller 124 can detect “escape” conditions by monitoring one or more system conditions SYC (e.g., detected via sensing system 206) for one or more predetermined conditions PR (e.g., first predetermined condition PR1, second predetermined condition PR2, etc.), as indicated above and described in more detail below.

[0225] Sensing system 206 is configured to detect one or more system conditions SYC associated with one or more of the tool 104, manipulator 102, target part TS, or combinations thereof, as noted above (see [link]). Figure 25In other words, sensing system 206 can detect one or more system conditions SYC associated with tool 104, one or more system conditions SYC associated with manipulator 102, and / or one or more system conditions SYC associated with target part TS. To this end, in some embodiments, sensing system 206 may include sensor 180 for detecting force FD occurring between target part TS and manipulator 102. Here, for example, the force FD detected by sensor 180 (e.g., force and / or torque on one degree of freedom DOF) may define system condition SYC used by controller 124 to facilitate changing the operation of manipulator 102 between a first mode M1 and a second mode M2, as described in more detail below. In some embodiments, sensing system 206 may include one or more components of navigation system 128 (e.g., locator 158) and / or one or more trackers 160. Here, for example, the tracked state of tracker 160 monitored by locator 158 can define system condition SYC used by controller 124 to facilitate changing the operation of manipulator 102 between first mode M1 and second mode M2, as described in more detail below. Similarly, as noted above, one or more components of surgical system 100 can (directly or indirectly) determine the arrangement of tool 104 in one or more coordinate systems (e.g., the orientation of tool center point TCP in locator coordinate system LCLZ). Here, the arrangement of tool 104 and changes in the arrangement of tool 104 (e.g., movement relative to one or more trackers 160) can define system condition SYC used by controller to facilitate changing the operation of manipulator 102 between first mode M1 and second mode M2, as described in more detail below. In some embodiments, sensing system 206 or sensor 180 may additionally or alternatively include: a sensor 180 configured to detect current from any one or more actuators of joint J; a sensor for detecting torque or torque applied to joint J or any one or more joint actuators; or a sensor for detecting any other external (e.g., reverse drive) force or torque applied to any one or more joint J. An example of a method for calculating the reverse drive force on the joint may be as described in U.S. Patent No. 10,327,849 entitled “Robotic System and Method for Backdriving The Same,” which is incorporated herein by reference. Current measurements obtained by sensor 180 at any one or more actuators of joint J may be converted into force or torque measurements that may be projected onto the target portion TS on which tool 104 is interacting.In some instances, these force and torque measurements obtained from the joint can be compared with measurements from a six-degree-of-freedom (DOF) force / torque transducer positioned to detect the force and / or torque occurring between the manipulator 102 and the target site TS, or with status data about the patient or instrument obtained by the navigation system. The sensing system 206 may include (or otherwise communicate with) various components of the surgical system 100, including, by non-limiting examples, one or more instruments 112, joint encoders 122, controllers 124, 132, 134, 136, input devices 146, output devices 144, user interface 142, power generation components 152, pointers 156, locators 158, trackers 160, cameras 170, etc. Other configurations are contemplated.

[0226] System condition SYCs can be defined in various ways, including based on the relationship between different components of the surgical system 100 and / or the target site TS. For example, the pose of the first patient tracker 160A (e.g., tracked in the locator coordinate system LCLZ) and the pose of the tool center point TCP of the tool 104 (e.g., transformed to or tracked in the locator coordinate system LCLZ) can each define a corresponding system condition SYC, and simultaneous movement of the pose of the first patient tracker 160A together with the pose of the tool center point TCP can define different system condition SYCs. Therefore, this disclosure contemplates multiple different system condition SYCs that can be defined in various ways based on changes occurring at and / or between one or more of the tool 104, the manipulator 102, and / or the target site TS.

[0227] Now for reference Figure 22A As noted above, the controller 124 is configured to operate the manipulator 102 in a first mode M1 to maintain the alignment of the tool 104 relative to the target part TS based on a first constraint criterion C1, and to operate the manipulator 102 in a second mode M2 ​​to maintain the alignment of the tool 104 relative to the target part TS based on a second constraint criterion C2 different from the first constraint criterion C1. For this purpose, in some embodiments, the difference between the first constraint criterion C1 and the second constraint criterion C2 may be based on the degrees of freedom (DOF) on which movement of the tool 104 relative to the target part TS is restricted (or permitted), and the manner in which movement on one or more DOFs can be achieved (see also...). Figure 25 Although the following combination Figures 24A to 24C This concept will be described in more detail, but for illustrative purposes only. Figure 22AThe manipulator 102 of the instrument 112 (here, guide 208) supporting the tool 104 is shown. The instrument 112 is spaced apart from the impactor assembly 210, which is fastened to the implantable part 116 and configured to initially engage with the target site TS supported on the working surface WS. The tool center point TCP of the tool 104 and the target reference point TRP of the target site TS are each shown as including six corresponding degrees of freedom (DOF) in Cartesian format.

[0228] More specifically, the tool center point TCP and the target reference point TRP each define corresponding x-position XP degrees of freedom (DOF), y-position YP degrees of freedom (DOF), z-position ZP degrees of freedom (DOF), x-orientation ZO degrees of freedom (DOF), y-orientation YO degrees of freedom (DOF), and z-orientation ZO degrees of freedom (DOF) within a common coordinate system (e.g., the locator coordinate system LCLZ or another suitable coordinate system). Here, the tool center point TCP is "fixed" relative to the tool 104 and is known to the controller 124 (e.g., based on the geometric relationship between the tool 104 and the connector 110 of the manipulator 102). Similarly, the target reference point TRP is "fixed" relative to the target site TS and is known to the controller 124 (e.g., based on the tracked state of the first patient tracker 160A, which is coupled to the target site TS and defined by the acetabulum). For illustrative purposes, the tool center point TCP and the target reference point TRP are... Figures 22A to 24C The coordinate system is depicted as follows: the x, y, and z axes each represent two degrees of freedom (DOF): translation along the axes and rotation about the axes. Figure 22A In the example, for illustrative purposes, the tool center point TCP is arranged such that its z-axis is parallel to the trajectory T and its x-axis is transverse to the trajectory T, and the target reference point TRP is arranged such that its z-axis coincides with the trajectory T.

[0229] In some embodiments, the first constraint criterion C1 may include a first number N1 degrees of freedom (DOF) in which the movement of tool 104 relative to target part TS is restricted, and the second constraint criterion C2 may include a second number N2 degrees of freedom (DOF) in which the movement of tool 104 relative to target part TS is restricted, wherein the second number N2 of DOF is different from the first number N1 of DOF. Therefore, in some embodiments, the controller 124 may be configured to operate the manipulator 102 in the following modes: a first mode M1 to maintain the alignment of tool 104 relative to target part TS based on the first number N1 of DOF; and a second mode M2 ​​to maintain the alignment of tool 104 relative to target part TS based on the (different) second number N2 of DOF.

[0230] Here, the first quantity N1 may represent the number of "active" degrees of freedom (DOFs) defining the target state ST in the first mode M1, and the second quantity N2 may represent the number of "active" DOFs defining the target state ST in the second mode M2. For example, in the case where the sensing system 206 includes a sensor 180 for detecting the force FD occurring between the target location TS and the manipulator 102 to define the system condition SYC, in some embodiments, the controller 124 may define the target state ST based on a total of six DOFs (e.g., x position XP, y position YP, z position ZP, x orientation XO, y orientation YO, and z orientation ZO) for operating the manipulator 102 in the first mode M1, and may automatically change the way the target state ST is defined to operate the manipulator 102 in the second mode M2 ​​based on three DOFs (e.g., x orientation XO, y orientation YO, and z orientation ZO), as long as the force FD detected by the sensor 180 satisfies the predetermined condition PR. Here, the predetermined condition PR may be defined as a force FD (e.g., force and / or torque on one or more degrees of freedom DOF) detected by sensor 180, which indicates a potential “escape” condition such as being “fixed” to the patient P at the target site TS by the implantable component 116, thereby allowing controller 124 to effectively change the target state ST in the second mode M2 ​​so as to no longer maintain the position of the tool center point TCP relative to the target site TS (e.g., x position XP, y position YP, and z position ZP).

[0231] Therefore, in some embodiments, the controller 124 may be configured to operate the manipulator 102 in a first mode M1 to restrict the movement of the tool center point TCP away from the target part TS (or trajectory T) according to a first constraint criterion C1 (e.g., which defines the target state ST based on the target orientation OT and the target position PT) and based on a first number N1 of degrees of freedom DOF, and to operate the manipulator 102 in a second mode M2 ​​to allow the movement of the tool center point TCP away from the target part TS according to a second constraint criterion C1 (e.g., which defines the target state ST based on the target orientation OT instead of the target part PT) and based on a (different) second number N2 of degrees of freedom DOF. Although the following combination Figures 24A to 24C This exemplary instance is described in more detail, but other configurations are envisioned, and the change between modes based on the satisfaction of a predetermined condition PR can occur in a variety of different ways based on various system conditions SYC determined via sensing system 206.

[0232] In some embodiments, the second number N2 of degrees of freedom (DOF) is less than the first number N1 of DOF, such that the controller 124 allows the tool 104 to move relative to the target part TS in at least one more DOF in the second mode M2 ​​than in the first mode M1. Similarly, in some embodiments, the first constraint criterion C1 and the second constraint criterion C2 may each include at least one orientation DOF (e.g., x-orientation XO, y-orientation YO, and / or z-orientation ZO), the first constraint criterion C1 may include at least one more positional DOF (e.g., x-position XP, y-position YP, and / or z-position ZP) than the second constraint criterion C2, and both the first constraint criterion C1 and the second constraint criterion C2 may include at least one common DOF (e.g., x-orientation XO, y-orientation YO, and / or z-orientation ZO). Furthermore, in some embodiments, the first constraint criterion C1 may include at least one positional degree of freedom (DOF) (e.g., x-position XP, y-position YP, and / or z-position ZP) and at least one orientational degree of freedom (DOF) (e.g., x-orientation XO, y-orientation YO, and / or z-orientation ZO). However, as will be understood from the following description, other configurations are contemplated, and the first criterion C1 and / or the second constraint criterion C2 may be defined in a variety of different ways depending on, for example, the type of surgical procedure performed at the target site TS, the specific arrangement and configuration of the tool 104 (and / or energy applicator 114 or implantable component 116), the manner in which the manipulator 102 positions the tool 104 relative to the target site TS, etc.

[0233] In some embodiments, the first constraint criterion C1 may include a first elastic parameter R1, and the second constraint criterion C2 may include a second elastic parameter R2 different from the first elastic parameter R1. Therefore, in some embodiments, the controller 124 may be configured to operate the manipulator 102 in a first mode M1 to maintain the alignment of the tool 104 relative to the target portion TS based on the first elastic parameter R1, and to operate the manipulator 102 in a second mode M2 ​​to maintain the alignment of the tool 104 relative to the target portion TS based on the (different) second elastic parameter R2. Here, the first elastic parameter R1 may represent or otherwise correspond to the tuning parameter TPA (e.g., spring parameter PS and / or damping parameter PD) of one or more guide constraints GCs defining the first mode M1, and the second elastic parameter R2 may represent or otherwise correspond to the tuning parameter TPA (e.g., spring parameter PS and / or damping parameter PD) of one or more guide constraints GCs defining the second mode M2. As will be understood from the following description, the first constraint criterion C1 and / or the second constraint criterion C2 can be configured or defined in a variety of different ways, including, by way of non-limiting examples, defining an elasticity parameter for each "active" degree of freedom (DOF) when operating in the first mode M1 or the second mode M2. In other words, the first constraint criterion C1 may include three "active" DOFs, each with a corresponding first elasticity parameter, which may be the same as or different from each other. Other configurations are contemplated.

[0234] In some embodiments, the controller 124 may be configured to allow greater elastic movement of the tool 104 relative to the target location TS in the second mode M2 ​​than in the first mode M1. In other words, the "rigidity" of the second elastic parameter R2 may be lower than that of the first elastic parameter R1, making deviation from the target state ST more difficult in the first mode M1 than in the second mode M2. However, other configurations are contemplated. In some embodiments, the first elastic parameter R1 and the second elastic parameter R2 are each associated with elastic movement of the tool 104 relative to the target location TS in at least one common degree of freedom (DOF) (e.g., in x-position XP, y-position YP, z-position ZP, x-orientation XO, y-orientation YO, or z-orientation ZO). By way of a non-limiting example, the z-orientation ZO degree of freedom (DOF) may be "active" and form part of both the first constraint criterion C1 and the second constraint criterion C2, wherein the first elastic parameter R1 and the second elastic parameter R2 are each associated with the z-orientation ZO degree of freedom (DOF).

[0235] In some implementations, the first constraint criterion C1, the second constraint criterion C2, and / or the predetermined condition PR may be adjustable and / or configurable by the user, such as via user interface 142. For this purpose, threshold control 314 may be provided (see...). Figure 2 See also Figure 25This facilitates the adjustment of the predetermined condition PR. By way of example, threshold control 314 can be configured as input device 146 that alters the amount of force FD detected by sensor 180 (e.g., system condition SYC) required to satisfy the predetermined condition PR, such as requiring more or less force FD (e.g., force and / or torque in a particular direction) to be detected before controller 124 changes from first mode M1 to second mode M2. By a further example, threshold control 314 can be configured as input device 146 that alters the amount of time during which tool 104 and target part TS move together to satisfy the predetermined condition PR (e.g., as determined via navigation system 128), such as requiring simultaneous movement for more or less time before controller 124 changes from first mode M1 to second mode M2. The examples provided above are illustrative and not limiting, and other configurations are contemplated.

[0236] In some implementations, stiffness control 316 (see...) can be provided. Figure 2 See also Figure 25 This facilitates the adjustment of the first constraint criterion C1 (or, in some embodiments, the second constraint criterion C2) in a manner that defines the first constraint criterion C1. By way of example, stiffness control 316 may be configured as an input device 146 that alters the tuning parameter TPA and / or configuration parameter CPA (e.g., to facilitate maintaining the target state ST) of one or more guide constraints GC used to define the first mode M1, such as by increasing or decreasing the first elasticity parameter R1 to cause a corresponding change in the manner in which the manipulator 102 is restricted from movement from the target state ST (e.g., having more or less "stiffness"). Again, the foregoing examples are illustrative and not limiting, and other configurations are contemplated.

[0237] In other embodiments, the first constraint criterion C1 or the second constraint criterion C2 may be dynamically determined or adjusted based on measurements from the sensing system or sensor 180. The controller may, for example, use a lookup table stored in memory to correlate the magnitude or value of the sensed measurement with a stiffness value. This technique may be implemented with the thresholds described above, or without considering any thresholds.

[0238] In some implementations, the surgical system 100 also includes a pattern indicator 318 (see...). Figure 2 See also Figure 25The mode indicator 318 is coupled to the controller 124 to convey changes in the operation of the manipulator 102 from a first mode M1 to a second mode M2 ​​(or between other modes). Here, the mode indicator 318 may form part of the user interface 142 (e.g., as part of an alarm, speaker, indicator light, display screen, and / or another type of output device 144), and the controller 124 may be configured to activate the mode indicator 318 in response to determining that at least one of one or more system conditions SYC meets a predetermined condition PR.

[0239] As pointed out above, Figure 22A The manipulator 102 of the instrument 112 (here, guide 208) supporting the tool 104 is shown. The instrument 112 is spaced apart from the impactor assembly 210, which is fastened to the implantable part 116 configured to initially engage with the target site TS supported on the working surface WS. The tool center point TCP of the tool 104 and the target reference point TRP of the target site TS are spaced apart from each other. Figure 22A and Figure 22B The comparative example illustrates the movement of tool 104 in x position XP degree of freedom (DOF) (e.g., in the direction along the x-axis of tool center point TCP), wherein the axis 224 of impactor assembly 210 has passed through opening 268 of guide 208 and entered channel 262 to bring tool center point TCP onto trajectory T (and also onto z-axis of target reference point TRP).

[0240] Will Figure 22B and Figure 22C Comparative examples illustrate the movement of tool 104 in z-position ZP degree of freedom (DOF) (e.g., in the direction along the z-axis of tool center point TCP), wherein the flange 216 of impactor assembly 210 has been positioned within the channel 262 of guide 208, wherein the first engagement surface 218 is adjacent to the second engagement surface 270, and wherein the tool center point TCP is arranged to coincide with the flange reference point FRP and is still positioned along trajectory T.

[0241] In some embodiments, the controller 124 may be configured to operate the manipulator 102 in a second mode M2 ​​to allow the tool 104 to move relative to the target part TS in at least one degree of freedom (DOF) according to a second constraint criterion C2. Similarly, in some embodiments, the controller 124 may be configured to operate the manipulator 102 in a first mode M1 to allow the tool 104 to move relative to the target part TS in at least one degree of freedom (DOF) according to a first constraint criterion C1. Here, for example, [the following is an example of...] Figure 22C and Figure 23Comparative examples illustrate the movement of tool 104 in the z-orientation ZO degree of freedom (DOF) (e.g., in the direction of the z-axis about the tool's center point TCP), where guide 208 has moved relative to impactor assembly 210 and target site TS from... Figure 22C The layout described (in) Figure 23 The tool center point TCP of tool 104 is moved (described as a dashed outline), but it remains arranged to coincide with the flange reference point FRP and is similarly set along the trajectory T.

[0242] In other words, through comparison Figures 22C to 23 The movement of the illustrated tool 104 can represent a scenario where the first constraint criterion C1 includes five active degrees of freedom (DOFs) (e.g., x-position XP, y-position YP, z-position ZP, x-orientation XO, and y-orientation YO), and when operating in the first mode M1, allows movement on one DOF (e.g., z-orientation ZO) to define the target state ST. For example, this configuration can be implemented to allow a user to “rotate” the guide 208 around the trajectory T (e.g., between hammer blows to the head 214 of the impactor assembly 210) to different arrangements maintained by the manipulator 102 (e.g., by redefining the target state ST based on where the user positions the guide 208).

[0243] However, the first constraint criterion C1 can be configured in several different ways to define the target state ST when operating in the first mode M1. For example, instead of allowing the user to adjust the orientation of the guide 208 around the trajectory T in the first mode M1 by manipulating the guide 208 based on the user “rotating” the guide 208 around the trajectory T to redefined the target state ST, the first constraint criterion C1 can instead be configured to define the target state ST in all six degrees of freedom (DOFs) while allowing more flexible (e.g., less “rigid”) movement in one or more DOFs than in the others. As an illustrative example, Figure 22C The depicted arrangement can actually represent the target state ST in the first mode M1, where the first constraint criterion C1 is configured such that the first elastic parameter R1 associated with the z-oriented ZO degree of freedom DOF has the following properties: Figure 23 The diagram shows a relatively "weak" value that allows the user to "rotate" guide 208 around trajectory T but still push tool 104 toward the target state ST. Here, in this example, Figure 23 The arrangement of the depicted tools 104 will represent the current state SC, where the target state ST is shown as a dashed outline (see also...). Figure 22C ).

[0244] Now for reference Figures 24A to 24CIn some embodiments, the controller 124 may be further configured to operate the manipulator 102 in a third mode M3 to maintain the alignment of the tool 104 relative to the target part TS according to a third constraint criterion C3, which is different from the first constraint criterion C1 and the second constraint criterion C2. Here, in this embodiment, the controller 124 is configured to change the operation of the manipulator 102 from the first mode M1 to the second mode M2 ​​in response to determining that at least one of one or more system conditions SYS satisfies a first predetermined condition PR1, and to change the operation of the manipulator 102 from the second mode M2 ​​to the third mode M3 in response to determining that at least one of one or more system conditions SYS satisfies a second predetermined condition PR2, which is different from the first predetermined condition PR1. Here, in this exemplary embodiment, the first constraint criterion C1 includes a first number N1 degrees of freedom (DOF) in which the movement of the tool 104 relative to the target part TS is restricted, the second constraint criterion C2 includes a second number N2 degrees of freedom (DOF) in which the movement of the tool 104 relative to the target part TS is restricted, and the third constraint criterion C3 includes a third number N3 degrees of freedom (DOF) in which the movement of the tool 104 relative to the target part TS is restricted. Furthermore, in this exemplary embodiment, the first constraint criterion C1 further includes a first elastic parameter R1, the second constraint criterion C2 further includes a second elastic parameter R2, and the third constraint criterion C3 further includes a third elastic parameter R3.

[0245] Therefore, in combination Figures 24A to 24C In the illustrated representative embodiment, the controller 124 is configured to operate the manipulator 102 in the following modes: a second mode M1, maintaining the alignment of the tool 104 with respect to the target part TS based on a first number N1 degrees of freedom (DOF) and also based on a first elastic parameter R1; a second mode M2, maintaining the alignment of the tool 104 with respect to the target part TS based on a second number N2 degrees of freedom (DOF) and also based on a second elastic parameter R2; and a third mode M3, maintaining the alignment of the tool 104 with respect to the target part TS based on a third number N3 degrees of freedom (DOF) and also based on a third elastic parameter R3. Here, the third number N3 of DOF differs from one or more of the first number N1 and the second number N2 of DOF. More specifically, in this embodiment, the third number N3 of DOF is less than the first number N1 of DOF, such that the controller 124 allows the tool 104 to move with respect to the target part TS in at least one more degree of freedom (DOF) than in the first mode M1. Similarly, in this embodiment, the third number of degrees of freedom (DOF) is less than the second number of DOF (N2), such that the controller 124 in the third mode M3 allows the tool 104 to move relative to the target part TS in at least one more degree of freedom than in the second mode M2.

[0246] More specifically, in this representative embodiment, the first number N1 of degrees of freedom (DOF) is equal to the second number N2 of DOF, both of which are different from the third number N3 of DOF. However, other configurations are contemplated. Here, in this embodiment, the difference between the first constraint criterion C1 and the second constraint criterion C2 is based on the first elasticity parameter R1 and the second elasticity parameter R2, as described in more detail below, rather than on the first number N1 and the second number N2 of DOF “active” in the first mode M1 and the second mode M2.

[0247] In some implementation schemes, such as combination Figures 24A to 24C In the illustrated implementation, the first constraint criterion C1 and the second constraint criterion C2 each include at least one positional degree of freedom (DOF) (e.g., x-position XP, y-position YP, and / or z-position ZP) and at least one orientational degree of freedom (DOF) (e.g., x-orientation XO, y-orientation YO, and / or z-orientation ZO); and each of the first constraint criterion C1, the second constraint criterion C2, and the third constraint criterion C3 includes at least one orientational degree of freedom (e.g., x-orientation XO, y-orientation YO, and / or z-orientation ZO). Similarly, the first constraint criterion C1 and the second constraint criterion C2 each include at least one more positional degree of freedom (DOF) than the third constraint criterion C3. However, other configurations are contemplated.

[0248] As pointed out above, in Figures 24A to 24C In the illustrative representative embodiment, the difference between the first constraint criterion C1 and the second constraint criterion C2 is based on the first elasticity parameter R1 and the second elasticity parameter R2, rather than on the first number N1 and the second number N2 of the degrees of freedom (DOF) "active" in the first mode M1 and the second mode M2. Here, the third elasticity parameter R3 differs from one or more of the first elasticity parameters R1 and the second elasticity parameters R2, which are also different from each other in this embodiment. More specifically, and as described in more detail below, the controller 124 allows for a greater elastic movement (e.g., a less "rigid" movement) of the tool 104 relative to the target site TS in the second mode M2 ​​than in the first mode M1, and allows for a greater elastic movement (e.g., a less "rigid" movement) of the tool 104 relative to the target site TS in the second mode M2 ​​than in the third mode M3. Again, the foregoing is intended as a non-limiting example, and other configurations of the surgical system 100 are contemplated.

[0249] exist Figure 24AIn this example, controller 124 operates manipulator 102 in first mode M1 according to a first constraint criterion C1, which in this representative embodiment defines a target state ST as illustrated above, where tool 104 is arranged such that axes A1 and A2 are aligned with trajectory T, as indicated above. For this purpose, the first constraint criterion C1 includes both a first number N1 of degrees of freedom (DOF) and a first elastic parameter R1. For the purposes of this illustrative example, the first number N1 includes six “active” DOFs: x-position XP, y-position YP, z-position ZP, x-orientation XO, y-orientation YO, and z-orientation ZO. Furthermore, in this illustrative example, the first elastic parameter R1 is set such that tool 104 is maintained in the target state ST with a relatively “rigid tactile feel” defined by, for example, the tuning parameter TPA of guide constraint GC, where the spring parameter PS is set relatively high to resist movement in each of the six active DOFs.

[0250] Continue to refer to Figure 24A The impact force FI is shown as being improperly applied to the head 214 of the impactor assembly 210 (e.g., laterally to the trajectory T). Here, improper application of the impact force FI (e.g., relatively high size and / or misalignment with the trajectory T) may cause the implantable component 116 to be misaligned with the trajectory T (such as...). Figure 24B (The image, depicted for illustrative purposes with exaggerated misalignment between axes A1, A2 and trajectory T), is partially positioned within the target region TS. Here, in Figure 24B In this scenario, sensor 180 detects a force FD between the target location TS and the manipulator 102 caused by the deviation between the illustrated current state SC and the target state ST (described here by dashed outlines). Sensor 180 acts as part of sensing system 206 to detect system condition SYC (e.g., force FD). Instead of continuing to move manipulator 102 to bring tool 104 to the target state ST (e.g., by moving the tool center point TCP back onto trajectory T), controller 124 changes from a first mode M1 to a second mode M2 ​​in response to the force FD detected by sensor 180 satisfying a first predetermined condition PR1, which in this embodiment is defined as a first force F1 detected by sensor 180 (e.g., force and / or torque on one or more degrees of freedom DOF). Therefore, Figure 24B The operation of manipulator 102 in the second mode M2 ​​according to the second constraint standard C2 is described.

[0251] exist Figure 24B In the second mode M2, the controller 124 operates the manipulator 102 according to the second constraint criterion C2, wherein the target state ST is still determined by... Figure 24A The layout described is limited (in) Figure 24B(Seen as a dashed outline in the diagram). Here, the second constraint criterion C2 includes a second number N2 of degrees of freedom (DOF) and a second elastic parameter R2. For the purposes of this illustrative example, the second number N2 includes six “active” degrees of freedom (DOF): x-position XP, y-position YP, z-position ZP, x-orientation XO, y-orientation YO, and z-orientation ZO. However, in this illustrative example, the second elastic parameter R2 is set such that the tool 104 is pushed toward the target state ST with a relatively “loose tactile feel” (e.g., the second elastic parameter R2 is less than the first elastic parameter R1) defined by, for example, the tuning parameter TPA of the guiding constraint GC, wherein the spring parameter PS is set relatively low to allow a certain amount of elastic movement on each of the six active degrees of freedom (DOF). In this configuration, the manipulator 102 still attempts to return to the target state ST (e.g., by bringing the tool center point TCP back onto the trajectory T), but the “relaxed tactile feedback” provided by the second constraint criterion C2 allows for a certain amount of deviation from the target state ST, thereby preventing an “escape” condition when the implantable part 116 is partially seated in the target part TS when misaligned, and keeping the target part TS supported on the working surface WS.

[0252] Continue to refer to Figure 24B The additional impact force FI is shown as being improperly applied to the head 214 of the impactor assembly 210 (e.g., laterally to the trajectory T). Here, improper application of the impact force FI (e.g., relatively high in size and / or misaligned with the trajectory T) can still cause the implantable component 116 to be further misaligned with the trajectory T (e.g., in a manner that...). Figure 24C (The exaggerated misalignment between axes A1, A2 and trajectory T, depicted for illustrative purposes, is further positioned within the target region TS.) Figure 24C In this embodiment, sensor 180 similarly detects a force FD between the target site TS and the manipulator 102 resulting from a further deviation between the illustrated current state SC and the target state ST (here depicted as the endpoint of trajectory T). Similarly, in this scenario, instead of continuing to move the manipulator 102 to bring the tool 104 to the target state ST (e.g., by moving the tool center point TCP back onto trajectory T), controller 124 changes from a second mode M2 ​​to a third mode M3 in response to the force FD detected by sensor 180 satisfying a second predetermined condition PR2, which in this embodiment is defined as a second force F2 (e.g., force and / or torque in one or more degrees of freedom DOF) detected by sensor 180, wherein the second force F2 is greater than the first force F1. In some embodiments, the second force F2 may be less than the amount of force and / or torque acting on the target site TS in one or more directions via engagement with the implantable component 116, which may otherwise cause the partially or fully seated implantable component 116 to be "dislocated".

[0253] exist Figure 24C In the middle, the controller 124 operates the manipulator 102 in the third mode M3 according to the third constraint criterion C3, wherein the target state ST is still determined by... Figure 24A The layout described is limited (in) Figure 24C (The endpoints of trajectory T are shown in the diagram). Here, the third constraint criterion C3 includes a third quantity N3 of degrees of freedom (DOF) and a third elastic parameter R3. For the purposes of this illustrative example, the third quantity N3 includes three “active” degrees of freedom (DOF): x-orientation XO, y-orientation YO, and z-orientation ZO. In other words, according to the third constraint criterion C3, no positional degrees of freedom (DOF) are active. Here, in this illustrative example, the third elastic parameter R3 is set such that tool 104 is pushed toward the target state ST with a relatively “rigid tactile feel” defined by, for example, the tuning parameter TPA of the guiding constraint GC, wherein the spring parameter PS is set relatively high to resist movement on each of the three active degrees of freedom (DOF). Here, tool 104 is pushed toward the target state ST based on orientation rather than position. In this configuration, the manipulator 102 still attempts to return to the target state ST (e.g., by orienting the tool center point TCP toward the target site TS), but the lack of active positional degrees of freedom (DOF) prevents an "escape" condition from occurring when the implantable component 116 is further seated into the target site TS while misaligned, and similarly maintains the target site TS supported on the working surface WS. Here, the surgeon or another user can be alerted to the change to the third mode M3 via mode indicator 318, which, as noted above, can form part of one or more of the user interfaces 142. By way of non-limiting examples, when the controller 124 switches from the first mode M1 to the second mode M2, a "low-level" alert (e.g., a sound played on a speaker, a warning displayed by a flashlight, or a graphic presented on the screen, etc.) can be generated to alert the user, and when the controller 124 switches from the second mode M2 ​​to the third mode M2 ​​(or from the first mode M1 to the third mode M3), a different or "high-level" alert can be generated to alert the user. The reminders can be defined in a variety of different ways that are sufficient to distinguish them from each other (e.g., one is visual, another is auditory, or a combination thereof), and as noted above, the pattern indicator 318 can have a variety of different styles, types, and / or configurations.

[0254] Although the above combination Figures 24A to 24CThe described representative implementation employs three constraint criteria C1, C2, C3, three modes M1, M2, M3, and two predetermined conditions PR1, PR2. However, in some implementations, similar functionality can be provided using two modes and one predetermined condition PR. By way of non-limiting example, when the system condition SYC is monitored using sensor 180 with predetermined condition PR defined as the detected force FD (e.g., force and / or torque on one or more degrees of freedom DOF), and controller 124 is configured to switch from a first mode M1 (e.g., maintaining six degrees of freedom DOF according to the first constraint criterion C1) to a second mode M2 ​​(e.g., maintaining only the orientation degree of freedom DOF according to the second constraint criterion C2), controller 124 can be configured to operate manipulator 102 in the first mode M1 to resist movement of tool 104 relative to target part TS, wherein the elasticity increases as the force FD detected by sensor 180 increases toward predetermined condition PR. In other words, not Figure 24B Depicted in Figure 24A The operations in the different modes described are not the same as those in the different modes described. Figure 24B This can represent a portion of the same mode (e.g., first mode M1), in which the first constraint criterion C1 includes an elastic parameter defined as a function of the force FD detected by sensor 180, until, for example, the detected force FD satisfies a predetermined condition PR (e.g., when the force FD exceeds the above combination). Figure 24C (In the case of the second force F2 described). However, the foregoing examples are illustrative rather than limiting, and other configurations are contemplated.

[0255] In embodiments where sensor 180 is used as part of sensing system 206 to facilitate changes between modes (e.g., first mode M1 and second mode M2), sensor 180 may be further defined as a force-torque sensor 180, which is configured to detect forces (e.g., force and / or torque) occurring between manipulator 102 and target location TS at one or more degrees of freedom (DOF). For this purpose, and as... Figure 1 and Figure 15Generally described herein, sensor 180 may be coupled to robotic arm 108 (e.g., as part of coupling 110). However, sensor 180 may be arranged in any suitable manner sufficient to detect force FD occurring between manipulator 102 and target site TS, and may have a variety of different types, styles, or configurations without departing from the scope of this disclosure. By way of non-limiting examples, sensor 180 may be implemented as part of coupling 110, part of robotic arm 108 (e.g., disposed at a joint), and / or part of tool 104 (e.g., disposed at instrument 112 and / or implantable component 116). Similarly, sensor 180 may be disposed at the body 260 of mount 148 and / or guide 208. Furthermore, while the representative embodiments illustrated herein involve a single multi-degree-of-freedom (DOF) force-torque transducer coupled to manipulator 102, sensor 180 may also be implemented by multiple components arranged in the same or different locations (e.g., one component at guide 208 and one component at connector 110), which cooperate to facilitate the detection of force FD occurring between target site TS and robotic arm 108. Other configurations are contemplated.

[0256] In some implementations, the amount of force FD detected by sensor 180 that satisfies predetermined conditions PR (e.g., a first force F1, a second force F2, or other values) is represented by or based on the amount of torque (or force) applied to implantable component 116. Here, known characteristics of tool 104 and implantable component 116 can be used to correlate the force / torque at sensor 180 with the force / torque applied to implantable component 116. The rigid body Jacobian matrix from sensor 180 to implantable component 116 can be calculated according to F... IMPLANT =J SENSOR_TO_IMPLANT -T *F SENSORThe force FD detected by sensor 180 can define the predetermined condition PR in a variety of different ways and can be application- and / or procedure-specific. In some embodiments, the type, style, size, or other parameters of the implantable component 116 can at least partially define one or more predetermined conditions PR. Here, for example, a relatively "large" implantable component 116 may require a different amount of torque (or force) to be applied to it before dislocation at the target site TS compared to a relatively "small" implantable component 116. Specific parameters of the predetermined condition PR based on sensor 180 (e.g., the magnitude of the force and / or torque in one or more degrees of freedom DOF) can be determined in other ways, including by conducting experiments. For example, the prying torque of the acetabular cup can be analyzed when determining the baseline force at which the translational constraint on the impact assembly 210 is to be released. By understanding the approximate torque at which the well-fixed cup 116 is likely to move or dislocate, cup placement accuracy can be optimized while avoiding cup prying by releasing the constraint in a specified limit or range. With the pry-out strength of cup 116 ranging from approximately 5 Nm to 25 Nm, the maximum allowable capacity at impact assembly 210 can range from 20 N to 100 N (assuming a lever arm of 0.25 m from the end effector to the center of the cup) to address different cup fixation scenarios. In one embodiment, the amount of force FD satisfying predetermined condition PR, based on laboratory evaluation, is approximately 64 N (approximately 16 Nm of pry-out torque). However, other values ​​or ranges of values ​​are anticipated or possible depending on the cup type, press fit, test method, and materials. In other instances, the amount of force FD satisfying predetermined condition PR is between 58-66 N, 50-70 N, or 40-80 N, or any value within these ranges.

[0257] In some embodiments, threshold control 314 (and / or stiffness control 316) may be manually adjusted by the user during surgery based on subjective considerations, observations, etc. (e.g., adjusting certain predetermined condition PRs to higher or lower based on user preferences). In some embodiments, the predetermined condition PRs may be based on patient-specific data (e.g., height, weight, age, bone mineral density, body mass index BMI, etc.), which may be entered using input device 146 of user interface 142. In some embodiments, the predetermined condition PRs may be determined at least partially during surgery, such as through a "swing test" similar to that described in U.S. Patent Application Publication No. US 2015 / 0094736 A1, entitled "System and Method of Controlling a Robotic System for Manipulating Anatomy of a Patient During a Surgical Procedure," the disclosure of which is hereby incorporated by reference in its entirety. However, other configurations are contemplated.

[0258] In other embodiments, the first constraint criterion C1 or the second constraint criterion C2 may be dynamically determined or adjusted based on measurements from the sensing system or sensor 180. The controller may, for example, use a lookup table stored in memory to correlate the magnitude or value of the sensed measurement with a stiffness value. This technique may be implemented with the thresholds described above, or without considering any thresholds.

[0259] As noted above, the switching functionality provided by the surgical system 100 between the first mode M1 and the second mode M2 ​​(and / or other modes) can be implemented using components of the sensing system 206 other than (and / or besides) the sensor 180. By way of non-limiting example, and again with reference to Figures 24A to 24C Positioner 158 and one or more trackers 160 (e.g., first patient tracker 160A and second tool tracker 160I) can be used to monitor system conditions SYC, such as the simultaneous movement of the target site TS and the impactor assembly 210 in a manner that satisfies predetermined conditions PR. Here, the movement that satisfies one or more predetermined conditions PR can be based on various combinations of duration and direction, such as movement that indicates the impactor assembly 210 is "fixed" to the target site TS in the event of a misalignment between the first axis A1 and the trajectory T, movement that indicates the target site TS is being lifted off the working surface WS or is otherwise moving in an unexpected direction, etc. Here, the components of sensing system 206 can be used together such that satisfying predetermined conditions PR to achieve a change between modes M1 and M2 requires satisfying multiple predetermined conditions PR based on the same or different types of system conditions SYC. By way of non-limiting examples, sensor 180 can be used to detect when a user is applying impact force FI, and can modify the way a predetermined condition PR is defined within the time period including the impact event, in order to concisely interpret the movement of the target site TS in different ways via the first patient tracker 160A during the impact, thereby preventing the erroneous detection of the "escape" condition when the target site TS initially responds to the application of impact force FI. Other configurations are contemplated.

[0260] Surgical system 100 can detect impact force FI (or off-axis force) and ignore or disregard such impact force FI for escape condition control algorithms. In doing so, surgical system 100 can confirm that the event is an expected impact force FI rather than an undesirable "escape" condition. Furthermore, surgical system 100 can determine that it is unnecessary to control the manipulator according to the second mode M2. In one example, to distinguish between escape conditions and impact force FI, system 100 analyzes the X and Y component force signals from force torque sensor 180. The Z component force is ignored because the Z-axis force is unconstrained in mechanical design. To detect escape conditions, in one embodiment, system 100 can average the magnitude of the combined X and Y axis forces over a certain duration (for example, 125 ms) and determine whether this average magnitude force is greater than a force threshold. The standard deviation over the same duration can be calculated to determine whether the standard deviation is below the threshold. If the threshold is met, system 100 can determine that an escape condition exists. In one experiment, exemplary force deviations in the X and Y directions under escape conditions were in the range of + / - 10-60 N. There may be other ways to determine the existence of an escape condition. For example, the measured X and Y forces can be compared individually with threshold limits over time. Other factors can be considered when determining the threshold used to detect the escape condition.

[0261] On the other hand, to detect the impact force FI (as compared to escape conditions), the sensing system 100 can analyze the X, Y, and Z components of the force, such as those obtained by the sensor 180, during the time period in which the impact occurs (e.g., 30-60 seconds). In one instance, due to the mechanical nature of the components, most of the force during an impact event occurs in the Z direction. However, the X and Y forces vary depending on how or how accurately the user impacts the impactor. During this time period, each of the X, Y, and Z components produces a separate signal spike indicating each impact. The sensing system 100 can isolate each signal spike indicating each impact. In one instance, each signal spike is experimentally determined to have a duration in the range of 100-150 ms. The sensing system 100 can then calculate the duration of each impact event and calculate the standard deviation over the calculated duration. From there, a threshold is set to limit the impact event. If the threshold is met, the system 100 can determine that an impact event has occurred. In one experiment, exemplary force deviations in the X and Y directions in response to an impact event are within the range of + / -10-30 N, and exemplary force deviations in the Z direction in response to an impact event are within the range of + / -20-40 N. Other methods may exist to determine that an impact event has occurred. For example, the measured force may be compared individually to a threshold over time. Moreover, the threshold used to detect escape conditions may vary depending on factors such as cup type, cup size, patient data, impactor parameters, and expected impact force. By being able to filter between escape events and impact events, system 100 can intelligently modify the constraint criteria only when it is necessary to counteract an escape event.

[0262] Furthermore, the different types of predefined conditions that must be met before changing between modes M1 and M2 can also be achieved using other types of tools 104, such as the combinations described above. Figures 12 to 14D The described electric surgical apparatus 150 is used for implementation. For example, a predetermined condition PR associated with the system conditions SYC (e.g., motor speed, load, etc.) defined by the operation of the power generation component 152 can be compared with a predetermined condition PR associated with the system conditions SYC defined by the navigation system 128, sensors 180, etc., in order to avoid changing between modes M1 and M2 while the energy applicator 114 is still rotating, even in the case of simultaneous movement of the tool 104 and the target site TS (which would otherwise cause the controller 124 to change between modes M1 and M2). Again, the examples provided above are intended to be illustrative and not limiting, and other configurations are contemplated.

[0263] In one instance, and refer to Figure 26In situations where tool 104 (such as a tool having a bone drill 154 as an energy applicator 114) engages with the target site TS bone while being constrained by a virtual boundary 174 associated with the target site TS, an "escape" condition may exist. More specifically, an escape condition may exist if the bone drill 154 is trapped, positioned, or wedged between the virtual boundary 174 and the target site TS bone. In this situation, the bone drill 154 may be partially pushed outside the virtual boundary 174. Because the virtual boundary 174 is configured to constrain the movement of tool 104, the system-controlled manipulator applies a reaction force RF to the bone drill 154. This reaction force RF causes the bone drill 154 to push against the target site TS bone, thereby causing the target site TS bone to move. The target site TS is tracked by a navigation system via tracker 160A. Therefore, the pushing of the target site TS will cause a corresponding movement of the associated virtual boundary 174, which in turn causes the reaction force RF to persist until the escape condition. The implementation of the above-described system, method, and technique can be fully applied to prevent this scenario. In this example, the first constraint criterion C1 and the second constraint criterion C2 may be similar to any of the above criteria to prevent escape conditions. Alternatively or additionally, constraint criteria C1 and C2 may relate to the magnitude or direction of the reaction force RD, the stiffness or damping parameters associated with the reaction force RF, the shape of the virtual boundary 174, the flexibility of the virtual boundary 174, the stiffness or damping parameters associated with the orientation of the tool 104 and / or the energy applicator 114, or to the positional or orientational degrees of freedom of the tool 104 and / or the energy applicator 114.

[0264] In one embodiment, this disclosure also relates to a method of operating a surgical system 100, the surgical system 100 comprising: an impactor assembly 210 having an interface 212 for releasably securing an implantable component 116; a guide 208 having a channel 262 formed to receive the impactor assembly 210; a manipulator 102 configured to support the guide 208 along a trajectory T relative to a target site TS; a sensor 180; and a controller 124 coupled to the manipulator 102 and the sensor 180 and configured to perform various steps. The steps include: operating the manipulator 102 in a first mode M1 to maintain the alignment of the guide 208 with respect to the trajectory T according to a first constraint criterion C1; operating the manipulator 102 in a second mode M2 ​​to maintain the alignment of the guide 208 with respect to the trajectory T according to a second constraint criterion C2 different from the first constraint criterion C1; detecting the force FD between the target part TS and the manipulator 102 using a sensor 180; determining that the force FD detected by the sensor 180 satisfies a predetermined condition PC, and changing the operation of the manipulator 102 from the first mode M1 to the second mode M2 ​​in response.

[0265] In this manner, the techniques, methods, and implementations of the surgical system 100 of this disclosure, combined with the use of the manipulator 102 to perform various types of surgical procedures, offer significant advantages over the use of different types of tools 104 supporting the target site TS. The functionality provided by the controller 124, the sensing system 206, and the manipulator 102 helps ensure that surgeons and other users can perform surgical procedures safely, reliably, and predictably. Specifically, the ability to change between modes M1 and M2 in response to detecting different types of system conditions SYC that satisfy a predetermined condition PR helps prevent “escape” conditions (and other types of undesirable movements of the tool 104) that might otherwise “lift” or “rotate” the patient P via the manipulator 102.

[0266] Those skilled in the art will understand that aspects of the embodiments described and illustrated herein are interchangeable or can be combined in other ways.

[0267] It will be further understood that the terms “include, include, and including” have the same meaning as the terms “comprise, comprises, and comprising.” Furthermore, it will be understood that terms such as “first,” “second,” and “third” are used herein to distinguish certain structural features and components for clear and consistent non-limiting, illustrative purposes.

[0268] Several configurations have been discussed in the foregoing description. However, the configurations discussed herein are not intended to be exhaustive or to limit the invention to any particular form. The terminology used is intended to be descriptive rather than restrictive in nature. In view of the foregoing teachings, many modifications and variations are possible, and the invention may be practiced in ways other than those specifically described.

Claims

1. A surgical system comprising: A tool for engaging a target location along a trajectory; A manipulator configured to support the tool; A sensing system, the sensing system including at least one sensor, the at least one sensor being configured to obtain a measurement indicating the force occurring between the target site and the manipulator; as well as A controller, coupled to the manipulator and the sensing system, is configured to operate the manipulator between the following modes: A first mode is used to maintain the alignment of the tool relative to the trajectory according to a first constraint criterion. A second mode is used to maintain the alignment of the tool relative to the trajectory according to a second constraint criterion different from the first constraint criterion, wherein the second mode allows for less rigid movement of the tool relative to the trajectory than in the first mode; and The controller is further configured to change the operation of the manipulator from the first mode to the second mode in response to determining that the measurement result indicating the force satisfies a predetermined condition indicating that the target part moves together with the tool.

2. The surgical system of claim 1, wherein the first constraint criterion includes a first number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory, and the second constraint criterion includes a second number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory, the second number of degrees of freedom being different from the first number of degrees of freedom; and The controller is further configured to operate the manipulator in the following modes: The first mode maintains the alignment of the tool with respect to the trajectory based on the first number of degrees of freedom; and The second mode maintains the alignment of the tool with respect to the trajectory based on the second number of degrees of freedom.

3. The surgical system of claim 2, wherein the second number of degrees of freedom is less than the first number of degrees of freedom, such that the controller allows the tool to move in at least one more degree of freedom relative to the trajectory in the second mode than in the first mode.

4. The surgical system of any one of claims 2 to 3, wherein the first constraint criterion includes at least one positional degree of freedom and at least one orientational degree of freedom.

5. The surgical system of any one of claims 2 to 3, wherein the first constraint criterion and the second constraint criterion each include at least one degree of orientation freedom.

6. The surgical system of any one of claims 2 to 3, wherein the first constraint criterion includes at least one more degree of positional freedom than the second constraint criterion.

7. The surgical system of any one of claims 2 to 3, wherein the first constraint criterion and the second constraint criterion include at least one common degree of freedom.

8. The surgical system of any one of claims 1 to 3, wherein the first constraint criterion includes a first elastic parameter, and the second constraint criterion includes a second elastic parameter different from the first elastic parameter; and The controller is further configured to operate the manipulator in the following modes: The first mode is used to maintain the alignment of the tool relative to the trajectory based on the first elasticity parameter; and The second mode maintains the alignment of the tool with respect to the trajectory based on the second elastic parameter.

9. The surgical system of claim 8, wherein the controller allows for greater elasticity of movement of the tool relative to the trajectory in the second mode than in the first mode.

10. The surgical system of claim 8, wherein the first elastic parameter and the second elastic parameter are each associated with elastic movement of the tool relative to the trajectory in a common degree of freedom.

11. The surgical system of any one of claims 1 to 3, wherein the tool defines a tool center point; and The controller is configured to operate the manipulator in the first mode to limit the movement of the tool center point away from the trajectory according to the first constraint criterion.

12. The surgical system of claim 11, wherein the controller is configured to operate the manipulator in the second mode to allow movement of the tool center point away from the trajectory according to the second constraint criterion.

13. The surgical system of any one of claims 1 to 3, further comprising a mode indicator coupled to the controller; and The controller is configured to activate the mode indicator in response to determining that the predetermined condition is met, so as to communicate to the user the change in the operation of the manipulator from the first mode to the second mode.

14. The surgical system of any one of claims 1 to 3, wherein the controller is configured to operate the manipulator in the first mode to allow the tool to move relative to the trajectory in at least one degree of freedom according to the first constraint criterion.

15. The surgical system of claim 14, wherein the controller is configured to operate the manipulator in the second mode to allow the tool to move relative to the trajectory in at least one degree of freedom according to the second constraint criterion.

16. The surgical system of any one of claims 1 to 3, wherein the controller is further configured to operate the manipulator in a third mode to maintain the alignment of the tool relative to the trajectory according to a third constraint criterion different from both the first constraint criterion and the second constraint criterion; The predetermined condition is further defined as a first predetermined condition; and The controller is further configured to change the operation of the manipulator from the second mode to the third mode in response to determining that the measurement result indicating the force satisfies a second predetermined condition different from the first predetermined condition.

17. The surgical system of claim 16, wherein the first constraint criterion includes a first number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory, the second constraint criterion includes a second number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory, and the third constraint criterion includes a third number of degrees of freedom in which the movement of the tool is restricted relative to the trajectory, the third number of degrees of freedom being different from one or more of the first number of degrees of freedom and the second number of degrees of freedom; and The controller is further configured to operate the manipulator in the following modes: The first mode maintains the alignment of the tool with respect to the trajectory based on the first number of degrees of freedom; The second mode maintains the alignment of the tool with respect to the trajectory based on the second number of degrees of freedom; as well as The third mode maintains the alignment of the tool with respect to the trajectory based on the third number of degrees of freedom.

18. The surgical system of claim 17, wherein the first constraint criterion further includes a first elastic parameter, the second constraint criterion further includes a second elastic parameter, and the third constraint criterion further includes a third elastic parameter different from one or more of the first elastic parameter and the second elastic parameter; and The controller is further configured to operate the manipulator in the following modes: The first mode maintains the alignment of the tool relative to the trajectory based on the first number of degrees of freedom and also based on the first elasticity parameter; The second mode maintains the alignment of the tool with respect to the trajectory based on the second number of degrees of freedom and also based on the second elastic parameter; as well as The third mode maintains the alignment of the tool with respect to the trajectory based on the third number of degrees of freedom and also based on the third elastic parameter.

19. The surgical system of claim 18, wherein the third number of degrees of freedom is less than the first number of degrees of freedom, such that the controller allows the tool to move in at least one more degree of freedom relative to the trajectory in the third mode than in the first mode.

20. The surgical system of claim 19, wherein the third number of degrees of freedom is less than the second number of degrees of freedom, such that the controller allows the tool to move relative to the trajectory in at least one more degree of freedom in the third mode than in the second mode.

21. The surgical system of any one of claims 18 to 20, wherein the first constraint criterion and the second constraint criterion each comprise at least one positional degree of freedom and at least one orientational degree of freedom.

22. The surgical system of any one of claims 18 to 20, wherein the first constraint criterion, the second constraint criterion, and the third constraint criterion each include at least one degree of orientation freedom.

23. The surgical system of any one of claims 18 to 20, wherein the first constraint criterion includes at least one more degree of positional freedom than the third constraint criterion.

24. The surgical system of claim 23, wherein the second constraint criterion includes at least one more degree of positional freedom than the third constraint criterion.

25. The surgical system of any one of claims 18 to 20, wherein the controller allows for greater elasticity of movement of the tool relative to the trajectory in the second mode than in the first mode.

26. The surgical system of claim 25, wherein the controller allows for greater elasticity of movement of the tool relative to the trajectory in the second mode than in the third mode.

27. The surgical system of claim 16, wherein the first constraint criterion includes a first elastic parameter, the second constraint criterion includes a second elastic parameter, and the third constraint criterion includes a third elastic parameter different from one or more of the first elastic parameter and the second elastic parameter; and The controller is further configured to operate the manipulator in the following modes: The first mode is used to maintain the alignment of the tool relative to the trajectory based on the first elasticity parameter; The second mode is used to maintain the alignment of the tool relative to the trajectory based on the second elastic parameter; as well as The third mode is used to maintain the alignment of the tool with respect to the trajectory based on the third elasticity parameter.

28. The surgical system of claim 16, wherein the first predetermined condition is defined by a first force detected by the at least one sensor, the second predetermined condition is defined by a second force detected by the at least one sensor, and the second force is greater than the first force.

29. The surgical system of any one of claims 1 to 3, further comprising: A patient tracker adapted to attach relative to the target site; The sensing system includes a navigation system configured to track the status of the patient tracker; and The controller is configured to also change the operation of the manipulator from the first mode to the second mode in response to determining that the tracked state of the patient tracker meets the predetermined condition.

30. The surgical system of claim 29, wherein the controller is further configured to compare the tracked movement of the tool with the movement of the patient tracker based on the tracked state received from the navigation system; and The predetermined conditions are further defined based on the tracked movement of the tool corresponding to the tracked state of the patient tracker.

31. The surgical system of any one of claims 1 to 3, wherein the controller is further configured to operate the manipulator in the first mode to resist the movement of the tool relative to the trajectory with increased elasticity as the measurement result indicating the force obtained by the at least one sensor increases toward the predetermined condition.

32. The surgical system of claim 31, wherein the tool includes a guide having a channel formed to receive an impactor assembly and allow limited movement of the impactor assembly relative to the guide, the impactor assembly having an interface for releasably securing a prosthesis. and The manipulator is configured to support the guide along the trajectory relative to the target site when the impactor assembly is received in the channel of the guide and when the prosthesis is fastened to the impactor assembly; The target site is further defined as the acetabular cup; The at least one of the sensors is configured to detect the force resulting from the force applied to the impactor assembly to mount the prosthesis in the acetabular cup; The controller is further configured to infer the torque being applied to the acetabular cup based on the detected force; and The controller is further configured to change the operation of the manipulator from the first mode to the second mode in response to determining that the inferred torque applied to the acetabular cup satisfies the predetermined condition.

33. The surgical system of claim 31, wherein the at least one sensor is further defined as one or more of the following: a force-torque transducer; a joint actuator current sensor; a joint force sensor; a joint torque sensor; and a joint encoder.

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