System and method for manipulating anatomy

Abstract

To provide surgical systems and methods for manipulating an anatomy with a tool.SOLUTION: A method includes defining a first virtual boundary associated with the anatomy and a second virtual boundary associated with the anatomy. The first virtual boundary is activated in a first mode. Movement of the tool is constrained in relation to the first virtual boundary in the first mode. The first virtual boundary is deactivated in a second mode. Movement of the tool is constrained in relation to the second virtual boundary in the second mode.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] [Cross - Reference to Related Applications] This application claims the benefit and priority of U.S. Provisional Patent Application No. 62 / 163,672, filed on May 19, 2015 the disclosure of which is hereby incorporated by reference in its entirety herein.

[0002] [Field of the Invention] The present invention generally relates to systems and methods for processing a biological structure by a tool of a surgical system, and more particularly to systems and methods for constraining a tool using a virtual boundary.

Background Art

[0003] Recently, operators have found it useful to use robotic devices to assist in surgical procedures. Robotic devices typically include a movable arm having a distal free end that can be positioned with a high degree of accuracy. A tool that acts on a surgical site is attached to the free end of the arm. The operator can move the arm, thereby enabling the tool to be accurately positioned at the surgical site and perform the procedure.

[0004] In robotic surgery, a virtual boundary is generated using computer - aided design software prior to surgery to delineate the area where the tool will operate from the area where the tool is constrained. For example, in orthopedic surgery, a virtual resection boundary may be generated to delineate the area of bone that will be removed by the tool during surgery from the area of bone that will remain after the surgery.

[0005] ​​​​​​​A navigation system is used to determine the position and / or orientation of the tool relative to the virtual boundary. The robot system works with the navigation system to The tool movement is guided so that the tool does not move beyond a virtual boundary. In many cases, the virtual boundary is , are generated in a model of the patient's bones and fixed with respect to the bones, so that the model Once loaded into the navigation system, the navigation system tracks the movement of the bones. By this, the movement of the virtual boundary can be tracked.

[0006] In many cases, operators desire dynamic control of tools with different cutting modes during a surgical procedure. For example, in some cases, the operator may need to use a tool to perform a bulk resection of the anatomy. Alternatively, the operator may wish to have a manual mode in which the anatomy is controlled by the operator's movements. It may also be desirable to control the tool in an autonomous mode for automated, high-precision cutting. In conventional systems, the virtual boundary associated with the target surface of the anatomy is independent of the mode of control. In other words, even if the tool is controlled in the autonomous mode, The same virtual boundary will be used whether the manipulator is controlled by the manual mode or the manual mode. The regulator generally does not allow the tool to advance beyond the boundaries in any mode. However, in some cases, the manipulator may inadvertently move the tool beyond the boundaries. For example, in manual mode, the operator may be allowed to Sometimes, a force is applied to the tool that exceeds the ability of the manipulator to prevent the tool from moving. In this case, ablation of the anatomical structure beyond the virtual boundary occurs, which deviates from the desired target plane. There are times when this happens. Summary of the Invention

Problems to be Solved by the Invention

[0007] In the relevant art, there is a need for a system and method for solving at least the foregoing problems as described.

Means for Solving the Problems

[0008] An embodiment of a system for processing a biological structure is provided. The system includes a base and a manipulator having linkages. The tool is connected to the manipulator and is movable relative to the base for interacting with the biological structure. The control device is configured to generate a first virtual boundary associated with the biological structure and a second virtual boundary associated with the biological structure . The control device is configured to control the movement of the tool in a first mode and a second mode . The control device is configured to activate the first virtual boundary to constrain the tool in relation to the first virtual boundary in the first mode . The control device is configured to deactivate the first virtual boundary to constrain the tool in relation to the second virtual boundary in the second mode . In the second mode, the control device is configured to deactivate the first virtual boundary to constrain the tool in relation to the second virtual boundary .

[0009] An embodiment of a method of operating a surgical system to process a biological structure with a tool is provided . The method includes defining a first virtual boundary associated with the biological structure and a second virtual boundary associated with the biological structure . In the first mode, the first virtual boundary is activated . In the first mode, the movement of the tool is constrained in relation to the first virtual boundary . In the second mode, the first virtual boundary is deactivated , the movement of the tool will be constrained in relation to the second virtual boundary.

[0010] The present system and method advantageously provide an opportunity to selectively control the activation of an intermediate virtual boundary between the first and second modes. As a result, the present system and method provide different virtual boundary configurations for each of the first and second modes, thereby enhancing the versatility and performance of the surgical system. The advantages of the present invention will be more readily understood by referring to the following detailed description in conjunction with the accompanying drawings. The advantages of the present invention will be more readily understood by referring to the following detailed description in conjunction with the accompanying drawings. The advantages of the present invention will be more readily understood by referring to the following detailed description in conjunction with the accompanying drawings.

[0011] The advantages of the present invention will be more readily understood by referring to the following detailed description in conjunction with the accompanying drawings. The advantages of the present invention will be more readily understood by referring to the following detailed description in conjunction with the accompanying drawings.

Brief Description of the Drawings

[0012]

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DETAILED DESCRIPTION OF THE INVENTION

[0013] [I. Overview] Referring to the drawings, a system 10 and method for processing the biological structure of a patient 12 are shown throughout the drawings . Note that throughout several of the drawings, like numbers are intended to represent like or corresponding components. As shown in FIG. 1, the system 10 is for bone or A robotic surgical resection system for excising material from a biological structure of a patient, such as soft tissue is. In FIG. 1, patient 12 is undergoing a surgical procedure. The biological structure of FIG. 1 includes the femur (F) and tibia (T) of patient 1 2. The surgical procedure includes tissue removal. In other embodiments, the surgical procedure includes partial or total knee replacement surgery and hip replacement surgery. System 10 is designed to excise material that will be replaced by a surgical implant, such as a hip or knee implant . Note that knee implants include single-piece implants, two-piece implants, and total knee implants. Some of these types of implants are shown in U.S. Patent Application No. 13 / 530,92 7, entitled "Artificial Implants and Methods of Implantation." This disclosure is hereby incorporated by reference and made a part hereof . Those skilled in the art will understand that the systems and methods disclosed herein may be used for other surgical or non-surgical procedures, or for industrial or other applications where a robotic system is utilized . System 10 includes a manipulator 14. Manipulator 14 has a base 1 6 and a linkage 18. Linkage 18 may include links that form a serial arm configuration or a parallel arm configuration . A tool 20 is coupled to manipulator 14 and is movable relative to base 16 for interacting with the biological structure. Tool 20

[0014] is part of an end effector 22 attached to manipulator 14 . Tool 20 is adapted to be grasped by an operator. Manipulator 14 and and and is movable relative to base 16 for interacting with the biological structure. Tool 20 is part of an end effector 22 attached to manipulator 14 . Tool 20 is adapted to be grasped by an operator. Manipulator 14 and One exemplary configuration of the tool 20 is described in U.S. Patent No. 9,119,655 entitled "Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes." This disclosure is hereby incorporated by reference. The manipulator 14 and the tool 20 may be configured to have alternative forms. The tool 20 may be similar to the tool shown in U.S. Patent Application Publication No. 2014 / 0276949 entitled "End Effector of a Surgical Robot Manipulator" filed on March 15, 2014. This document is hereby incorporated by reference. The tool 20 includes an energy applicator 24 designed to contact the tissue of the patient 12 at the surgical site. The energy applicator 24 may be a drill, a saw blade, a burr, an ultrasonic vibrating tip, a probe, etc. Also, the manipulator 14 houses a manipulator computer 26 or other form of control unit. Referring to Figure 2, the system 10 includes a control device 30. The control device 30 includes software and / or hardware for controlling the manipulator 14. The control device 30 instructs the movement of the manipulator 14 and controls the orientation of the tool 20 relative to the coordinate system. In one embodiment, the coordinate system is the manipulator coordinate system MNPL (see Figure 1). The manipulator coordinate system MNPL has an origin, which is located at a point on the manipulator 14. An example of the manipulator coordinate system MNPL is described in U.S. Patent No. 9, entitled "Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes." The manipulator coordinate system MNPL has an origin, which is located at a point on the manipulator 14. An example of the manipulator coordinate system MNPL is described in U.S. Patent No. 9, entitled "Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes." The manipulator coordinate system MNPL has an origin, which is located at a point on the manipulator 14. An example of the manipulator coordinate system MNPL is described in U.S. Patent No. 9, entitled "Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes."

[0015] Referring to Figure 2, the system 10 includes a control device 30. The control device 30 includes software and / or hardware for controlling the manipulator 14. The control device 30 includes software and / or hardware for controlling the manipulator 14. The control device 30 instructs the movement of the manipulator 14 and controls the orientation of the tool 20 relative to the coordinate system. In one embodiment, the coordinate system is the manipulator coordinate system MNPL (see Figure 1). In one embodiment, the coordinate system is the manipulator coordinate system MNPL (see Figure 1). The manipulator coordinate system MNPL has an origin, which is located at a point on the manipulator 14. An example of the manipulator coordinate system MNPL is described in U.S. Patent No. 9, entitled "Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes." It is described in Japanese Patent No. 119,655. This disclosure is hereby incorporated by reference. It shall be included herein.

[0016] System 10 further includes a navigation system 32. An example of the navigation system 32 is described in U.S. Patent No. 9,008,757 entitled "Navigation System with Optical and Non-Optical Sensors" filed on September 24, 2013. This document is hereby incorporated by reference. The navigation system 32 is adapted to track the movement of various objects. Such objects include, for example, the tool 20 and biological structures, such as the femur F and tibia T. The navigation system 32 tracks these objects and collects position information of each object in the localizer coordinate system LCLZ. The coordinates of the localizer coordinate system LCLZ may be converted to the manipulator coordinate system MNPL using conventional conversion techniques. The navigation system 32 can also display virtual images of the relative positions and orientations of those objects to the operator. It is described in U.S. Patent No. 9,008,757 entitled "Navigation System with Optical and Non-Optical Sensors" filed on September 24, 2013. This document is hereby incorporated by reference. The navigation system 32 is adapted to track the movement of various objects. Such objects include, for example, the tool 20 and biological structures, such as the femur F and tibia T. The navigation system 32 tracks these objects and collects position information of each object in the localizer coordinate system LCLZ. The coordinates of the localizer coordinate system LCLZ may be converted to the manipulator coordinate system MNPL using conventional conversion techniques. The navigation system 32 can also display virtual images of the relative positions and orientations of those objects to the operator. It is described in U.S. Patent No. 9,008,757 entitled "Navigation System with Optical and Non-Optical Sensors" filed on September 24, 2013. This document is hereby incorporated by reference. The navigation system 32 is adapted to track the movement of various objects. Such objects include, for example, the tool 20 and biological structures, such as the femur F and tibia T. The navigation system 32 tracks these objects and collects position information of each object in the localizer coordinate system LCLZ. The coordinates of the localizer coordinate system LCLZ may be converted to the manipulator coordinate system MNPL using conventional conversion techniques. The navigation system 32 can also display virtual images of the relative positions and orientations of those objects to the operator. This document is hereby incorporated by reference. The navigation system 32 is adapted to track the movement of various objects. Such objects include, for example, the tool 20 and biological structures, such as the femur F and tibia T. The navigation system 32 tracks these objects and collects position information of each object in the localizer coordinate system LCLZ. The coordinates of the localizer coordinate system LCLZ may be converted to the manipulator coordinate system MNPL using conventional conversion techniques. The navigation system 32 can also display virtual images of the relative positions and orientations of those objects to the operator. The navigation system 32 is adapted to track the movement of various objects. Such objects include, for example, the tool 20 and biological structures, such as the femur F and tibia T. The navigation system 32 tracks these objects and collects position information of each object in the localizer coordinate system LCLZ. The coordinates of the localizer coordinate system LCLZ may be converted to the manipulator coordinate system MNPL using conventional conversion techniques. The navigation system 32 can also display virtual images of the relative positions and orientations of those objects to the operator. Such objects include, for example, the tool 20 and biological structures, such as the femur F and tibia T. The navigation system 32 tracks these objects and collects position information of each object in the localizer coordinate system LCLZ. The coordinates of the localizer coordinate system LCLZ may be converted to the manipulator coordinate system MNPL using conventional conversion techniques. The navigation system 32 can also display virtual images of the relative positions and orientations of those objects to the operator. The navigation system 32 can also display virtual images of the relative positions and orientations of those objects to the operator. It is also capable of displaying virtual images of the relative positions and orientations of those objects to the operator.

[0017] The navigation system 32 includes a computer cart assembly 34 that houses a navigation computer 36 and / or other forms of control units. A navigation interface is operatively communicable with the navigation computer 36. The navigation interface includes one or more displays 38. Information is input into the navigation computer 36 using first and second input devices 40, 42 such as a keyboard and a mouse, or the navigation computer 36 The navigation system 32 includes a computer cart assembly 34 that houses a navigation computer 36 and / or other forms of control units. A navigation interface is operatively communicable with the navigation computer 36. The navigation interface includes one or more displays 38. Information is input into the navigation computer 36 using first and second input devices 40, 42 such as a keyboard and a mouse, or the navigation computer 36 The navigation system 32 includes a computer cart assembly 34 that houses a navigation computer 36 and / or other forms of control units. A navigation interface is operatively communicable with the navigation computer 36. The navigation interface includes one or more displays 38. Information is input into the navigation computer 36 using first and second input devices 40, 42 such as a keyboard and a mouse, or the navigation computer 36 The navigation interface is operatively communicable with the navigation computer 36. The navigation interface includes one or more displays 38. Information is input into the navigation computer 36 using first and second input devices 40, 42 such as a keyboard and a mouse, or the navigation computer 36 The navigation interface includes one or more displays 38. Information is input into the navigation computer 36 using first and second input devices 40, 42 such as a keyboard and a mouse, or the navigation computer 36 Information is input into the navigation computer 36 using first and second input devices 40, 42 such as a keyboard and a mouse, or the navigation computer 36 It may be adapted to select / control some of the characteristics. (Not shown) Touchless Other input devices 40, 42 including voice activation or clean may also be considered. The control device 30 is implemented in any suitable one or more devices within the stem 10, for example, but not limited to, a manipulator computer 26, a navigation computer 36, and any combination thereof. It may be preferably.

[0018] The navigation system 32 also includes a localizer 44 that communicates with the navigation computer 36. In one embodiment, the localizer 44 is an optical localizer and includes a camera unit 46. The camera unit 46 has an outer casing 48 that houses one or more optical position sensors 50. The system 10 includes one or more trackers. The trackers may include a pointer tracker PT, a tool tracker 52, a first patient tracker 54, and a second patient tracker 56. The trackers may include active markers 58. The active markers 58 may be light emitting diodes or LEDs. In other embodiments, the trackers 52, 54, 56 may have passive markers, for example, reflectors that reflect light emitted from the camera unit 46. Those skilled in the art will understand that other suitable tracking systems and methods not specifically described herein may also be utilized.

[0019] In the exemplary embodiment of FIG. 1, the first patient tracker 54 is firmly fixed to the femur F of the patient 12, and the second patient tracker 56 is firmly fixed to the tibia T of the patient 12. is fixed. The patient trackers 54, 56 are firmly fixed to the bone portion. The tool tracker 52 is firmly attached to the tool 20. The trackers 52, 54 , 56 may be fixed to their respective components by any suitable method. It should be understood.

[0020] The trackers 52, 54, 56 communicate with the camera unit 46 and supply position data to the camera unit 46. The camera unit 46 supplies the position data of the trackers 52, 54, 56 to the navigation computer 36. In one embodiment, the navigation computer 36 determines the position data of the femur F and the tibia T and the position data of the tool 20, and transmits the position data to the manipulator computer 26. The position data of the femur F, the tibia T, and the tool 20 may be determined by the tracker position data using conventional alignment / navigation techniques. The position data includes position information corresponding to the position and / or orientation of the femur T, the tibia T, the tool 20, and any other object being tracked. Here the position data described may be position data, orientation data, or a combination of position data and orientation data.

[0021]

[0021] The manipulator computer 26 converts the position data from the localizer coordinate system LCLZ to the manipulator coordinate system MNPL by determining a transformation matrix using navigation base data for the tool 20 and encoder base data for the tool 20. To determine the encoder-based position data, an encoder located at the joint of the manipulator 14 ( not shown) is used. The manipulator computer 26 is an encoder not shown) is used. The manipulator computer 26 is an encoder Using the encoder, the position based on the tool 20 in the manipulator coordinate system MNPL is calculated. And the orientation. Also, since the position and orientation of the tool 20 are known in the localizer coordinate system LCLZ, a transformation matrix will be generated.

[0022] As shown in FIG. 2, the control device 30 further includes a software module. The software module is part of one or more computer programs that act on the manipulator computer 26, the navigation computer 36, or a combination thereof to process data to assist in the control of the system 10. The software module is stored in the memory of the manipulator computer 26, the navigation computer 36, or a combination thereof and includes a set of instructions executed by one or more processors of the computers 26, 36. In addition, the software module that instructs and / or communicates with the operator may form part of one or more programs and may include instructions stored in the memory of the manipulator computer 26, the navigation computer 36, or a combination thereof. The operator interacts with the first and second input devices 40, 42 and one or more displays 38 and communicates with the software module.

[0023] In one embodiment, the control device 30 includes a manipulator control device 60 for processing data to instruct the movement of the manipulator 14. The manipulator control device 6 0 may be adapted to receive and process data from a single source or multiple sources.

[0024] ​​​​​​​​​​​The control device 30 manipulates position data regarding the femur F, tibia T, and tool 20 and further includes a navigation control device 62 for communicating with the manipulator control device 60. The manipulator control device 60 receives the position data supplied from the navigation control device 62 and processes it to instruct the movement of the manipulator 14. In one embodiment, as shown in FIG. 1 , the navigation control device 62 is implemented in the navigation computer 36 .

[0025] Also, the manipulator control device 60 or the navigation control device 62 may inform the operator of the positions of the patient 12 and the tool 20 by displaying an image of the femur F and / or the tibia T and the tool 20 on the display 38. Further, the manipulator computer 26 or the navigation computer 36 may be configured to display instruction or request information on the display 38 so that the operator can interact with the manipulator computer 26 to instruct the manipulator 14 . . . . .

[0026] As shown in FIG. 2, the control device 30 includes a boundary generator 66 . The boundary generator 66 may be a software module implemented in the manipulator control device 60, as shown in FIG. 2 . Alternatively, the boundary generator 66 may be implemented in other components such as the navigation control device 62 . As shown in detail below, the boundary generator 66 is configured to generate a virtual boundary for restraining the tool 20 .

[0027] The tool path generator 68 is the control device 30, and more specifically, the manipulator control device 6​​​​​​ is other software processed by 0. The tool path generator 68 generates a tool path 70 that indicates the bone that should be partially removed to receive the graft, as shown in FIG. 3. In FIG. 3, the tool path 70 is represented by a zigzag line. The smoothness and quality of the finished surface depend in part on the relative positioning of the zigzag line. More specifically, the narrower the zigzag path of the line, the greater the accuracy and smoothness of the finished surface. The dashed line 84 represents the outer perimeter of the bone to be removed using the manipulator 14. One exemplary system and method for generating the tool path 70 is described in U.S. Patent No. 9,119,655 entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference.

[0028] [II. Overview of the System and Method] A system 10 and method for processing a biological structure by a tool 20 includes defining a first virtual boundary or intermediate virtual boundary 90 and a second virtual boundary or target virtual boundary 80 related to the biological structure by a control device 30, as shown in FIGS. 4 and 5. The intermediate virtual boundary 90 is spaced from the target virtual boundary 80. The intermediate virtual boundary 90 is activated in a first mode, as shown in FIG. 4. In the first mode, the movement of the tool 20 will be constrained in relation to the intermediate virtual boundary 90. The intermediate virtual boundary 90 is deactivated in a second mode, as shown in FIG. 5. In the second mode, the movement of the tool 20 will be constrained in relation to the target virtual boundary 80.

[0029] ​​​​​​​​​​ One exemplary system and method for generating virtual boundaries 80, 90 is described in U.S. Patent No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12. No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12. No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12. No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12. No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12. No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12. No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12. No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12. No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12. No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. The boundary generator 66 generates a map that defines the target virtual boundary 80 and the intermediate virtual boundary 90. These boundaries 80, 90 demarcate between the tissue to be removed by the tool 20 and the tissue that should not be removed by the tool 20. Alternatively, these boundaries 80, 90 demarcate between the tissue on which the energy applicator 24 of the tool 20 should act and the tissue on which the energy applicator 24 should not act. Thus, the target virtual boundary 80 and the intermediate virtual boundary 90 are cutting boundaries or processing boundaries and serve to limit the movement of the tool 20. In many cases, although not necessarily, the virtual boundaries 80, 90 are configured to be defined within the patient 12.

[0030] Throughout the drawings, the target virtual boundary 80 and the intermediate virtual boundary 90 are configured to independently constrain the movement of the tool 20 between the first and second modes. That is, the tool 20 is configured to be constrained by either the intermediate virtual boundary 90 in the first mode or the target virtual boundary 80 in the second mode. The method for constraining the movement of the tool 20 is described in U.S. Patent No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. Throughout the drawings, the target virtual boundary 80 and the intermediate virtual boundary 90 are configured to independently constrain the movement of the tool 20 between the first and second modes. That is, the tool 20 is configured to be constrained by either the intermediate virtual boundary 90 in the first mode or the target virtual boundary 80 in the second mode. The method for constraining the movement of the tool 20 is described in U.S. Patent No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. Throughout the drawings, the target virtual boundary 80 and the intermediate virtual boundary 90 are configured to independently constrain the movement of the tool 20 between the first and second modes. That is, the tool 20 is configured to be constrained by either the intermediate virtual boundary 90 in the first mode or the target virtual boundary 80 in the second mode. The method for constraining the movement of the tool 20 is described in U.S. Patent No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. Throughout the drawings, the target virtual boundary 80 and the intermediate virtual boundary 90 are configured to independently constrain the movement of the tool 20 between the first and second modes. That is, the tool 20 is configured to be constrained by either the intermediate virtual boundary 90 in the first mode or the target virtual boundary 80 in the second mode. The method for constraining the movement of the tool 20 is described in U.S. Patent No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. Throughout the drawings, the target virtual boundary 80 and the intermediate virtual boundary 90 are configured to independently constrain the movement of the tool 20 between the first and second modes. That is, the tool 20 is configured to be constrained by either the intermediate virtual boundary 90 in the first mode or the target virtual boundary 80 in the second mode. The method for constraining the movement of the tool 20 is described in U.S. Patent No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. Throughout the drawings, the target virtual boundary 80 and the intermediate virtual boundary 90 are configured to independently constrain the movement of the tool 20 between the first and second modes. That is, the tool 20 is configured to be constrained by either the intermediate virtual boundary 90 in the first mode or the target virtual boundary 80 in the second mode. The method for constraining the movement of the tool 20 is described in U.S. Patent No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety. Throughout the drawings, the target virtual boundary 80 and the intermediate virtual boundary 90 are configured to independently constrain the movement of the tool 20 between the first and second modes. That is, the tool 20 is configured to be constrained by either the intermediate virtual boundary 90 in the first mode or the target virtual boundary 80 in the second mode. The method for constraining the movement of the tool 20 is described in U.S. Patent No. 9,119,655, entitled "Surgical Manipulator Capable of Controlling Surgical Instruments in Multiple Modes". This disclosure is hereby incorporated by reference in its entirety.

[0031] The surgical system 10 is capable of switching between a first and a second mode to provide various restraint forms of the tool 20. As shown in FIG. 5, when the first mode is switched to the second mode, the intermediate virtual boundary 90 is deactivated leaving the target virtual boundary 80. Thus, in the second mode, the tool 20 can reach the target virtual boundary 80 because the intermediate virtual boundary 90 does not restrain the tool 20. The tool 20 will be restrained in relation to the target virtual boundary

[0032] 80 when the intermediate virtual boundary 90 is deactivated. When the second mode is switched to the first mode as shown in FIG. 4, the intermediate virtual boundary 90 is activated or reactivated. When the intermediate virtual boundary 90 is activated, the tool 20 is restrained

[0033] in relation to the intermediate virtual boundary 90. Thus, in the first mode, the intermediate virtual boundary 90 will prevent the tool 20 from reaching the target virtual boundary 80. The manipulator 14 is configured to receive commands from the control device 30 and move the tool 20 in relation to the intermediate virtual boundary 90 in the first mode and / or the target virtual boundary 80 in the second mode. The navigation system 32 tracks the movement of the tool 20 in relation to the intermediate virtual boundary 90 in the first The movement that causes the tool 20 to act outside the intermediate virtual boundary 90 in the first mode and / or the target virtual boundary 80 in the second mode will result in restraining the manipulator 14. If the operator applies a force and torque that causes the tool 20 to advance beyond the intermediate virtual boundary 90 in the first mode and / or the target virtual boundary 80 in the second mode then the manipulator 14 is configured not to execute this intended positioning of the tool 20. .

[0034] As shown in FIG. 5, the target virtual boundary 80 is associated with a biological structure, and more specifically, a target surface 92 of the biological structure. The target virtual boundary 80 is defined in relation to the target surface 92. The target surface 92 is the contour of the bone remaining after the removal procedure and is also the surface to which the graft is to be attached. In other words, the target surface 92 is a continuously defined surface area remaining after the resection is complete.

[0035] As shown in FIG. 5, during the procedure, the target virtual boundary 80 may be somewhat displaced or spaced from the target surface 92. In one embodiment, this is done in consideration of the size and machining characteristics of the tool 20. Due to the machining characteristics of the tool 20, the tool 20 may break through the target virtual boundary 80. Taking this breakthrough into account, the target virtual boundary 80 may be translated parallel from the target surface 82 by a predetermined distance defined between the target surface 92 and the target virtual boundary 80. In one example, this distance corresponds to half the thickness of the tool 20. In other embodiments, the target virtual boundary 80 may be somewhat displaced or spaced from the target surface 92 depending on how the tool 20 and the energy applicator 24 are tracked. For example, depending on how the energy applicator is tracked, the target virtual boundary 80 may be somewhat displaced or spaced from the target surface 92. ​​The tag 24 may be traced based on a point based on the center of the energy applicator 24 rather than a point based on the resection surface outside the energy applicator 24. In such a case, by shifting the target virtual boundary 80 from the target surface 92, the center tracking can be adjusted so as to prevent overshooting the target surface 92. For example, when the energy applicator of the tool 20 is a spherical bar, the target virtual boundary will be shifted by half the diameter of the bar when the tool center point (TCP) of the bar is traced. As a result, when the TCP is located on the target virtual boundary 80, the outer surface of the bar will be located on the target surface 92. The intermediate virtual boundary 90 is spaced apart from the target virtual boundary 80. As shown in FIG. 4, the intermediate virtual boundary 90 is spaced further from the target surface 92 than the target virtual boundary 80 is spaced from the target surface 92. Essentially, the target virtual boundary 80 is located between the target surface 92 and the intermediate virtual boundary 90. Since the intermediate virtual boundary 90 is spaced significantly from the target surface 92, the movement of the tool 20 will be more constrained in relation to the intermediate virtual boundary 90 compared to being generally constrained in relation to the target virtual boundary 80. In other words, the movement of the tool 20 will be more constrained in the first mode compared to the second mode. As shown in FIG. 4, an area 100 is defined between the target virtual boundary 80 and the intermediate virtual boundary 90. The boundaries 80, 90 may be spaced apart from each other by any suitable distance. In one example, when the target virtual boundary 80 and the intermediate virtual boundary 90 are spaced approximately 0.5 mm apart, the area 100 will have a thickness of 0.5 mm. On one hand, the intermediate virtual boundary The target virtual boundary 80 is shifted from the target surface 92 to prevent overshooting the target surface 92. For example, when the energy applicator of the tool 20 is a spherical bar, the target virtual boundary will be shifted by half the diameter of the bar when the tool center point (TCP) of the bar is traced. As a result, when the TCP is located on the target virtual boundary 80, the outer surface of the bar will be located on the target surface 92. The target virtual boundary 80 is shifted from the target surface 92 to prevent overshooting the target surface 92. For example, when the energy applicator of the tool 20 is a spherical bar, the target virtual boundary will be shifted by half the diameter of the bar when the tool center point (TCP) of the bar is traced. As a result, when the TCP is located on the target virtual boundary 80, the outer surface of the bar will be located on the target surface 92. When the TCP is located on the target virtual boundary 80, the outer surface of the bar will be located on the target surface 92. When the TCP is located on the target virtual boundary 80, the outer surface of the bar will be located on the target surface 92.

[0036] The intermediate virtual boundary 90 is spaced apart from the target virtual boundary 80. As shown in FIG. 4, the intermediate virtual boundary 90 is spaced further from the target surface 92 than the target virtual boundary 80 is spaced from the target surface 92. Essentially, the target virtual boundary 80 is located between the target surface 92 and the intermediate virtual boundary 90. The intermediate virtual boundary 90 is spaced further from the target surface 92 than the target virtual boundary 80 is spaced from the target surface 92. Essentially, the target virtual boundary 80 is located between the target surface 92 and the intermediate virtual boundary 90. Since the intermediate virtual boundary 90 is spaced significantly from the target surface 92, the movement of the tool 20 will be more constrained in relation to the intermediate virtual boundary 90 compared to being generally constrained in relation to the target virtual boundary 80. Since the intermediate virtual boundary 90 is spaced significantly from the target surface 92, the movement of the tool 20 will be more constrained in relation to the intermediate virtual boundary 90 compared to being generally constrained in relation to the target virtual boundary 80. In other words, the movement of the tool 20 will be more constrained in relation to the intermediate virtual boundary 90 compared to being generally constrained in relation to the target virtual boundary 80. In other words, the movement of the tool 20 will be more constrained in relation to the intermediate virtual boundary 90 compared to being generally constrained in relation to the target virtual boundary 80. In other words, the movement of the tool 20 will be more constrained in the first mode compared to the second mode.

[0037] As shown in FIG. 4, an area 100 is defined between the target virtual boundary 80 and the intermediate virtual boundary 90. The boundaries 80, 90 may be spaced apart from each other by any suitable distance. In one example, when the target virtual boundary 80 and the intermediate virtual boundary 90 are spaced approximately 0.5 mm apart, the area 100 will have a thickness of 0.5 mm. On one hand, the intermediate virtual boundary 90 is considered an offset boundary with respect to the target virtual boundary 80. 0 is adapted to prevent the tool 20 from penetrating the area 100 in the first mode. In the first mode, the penetration prevention of the area 100 of the tool 20 is performed when the target virtual boundary 80 is The control device 30 may be configured to generate the second In this mode, the tool 20 is allowed to penetrate the area 100. The area 100 is a target Regardless of whether the virtual boundary 80 and / or the intermediate virtual boundary 90 are valid or invalid, It would be good to determine this.

[0038] The target virtual boundary 80 and the intermediate virtual boundary 90 have the same contour, as shown in FIG. Specifically, the target virtual boundary 80 and the intermediate virtual boundary 90 may have a target surface 92. The similar contour is useful for promoting the gradual formation of the target surface 92. It is beneficial.

[0039] The display 38 displays a target virtual boundary 80 and an intermediate virtual boundary 90, as well as It is advisable to show an image of the anatomy. In addition, the target virtual boundary 80 and the intermediate virtual boundary 90 are The relevant information is sent to the manipulator controller 60 so that the tool 20 can follow these virtual boundaries 8 The manipulator 14 and the operator 15 are adjusted so as not to invade the virtual boundary 80, 90. It is advisable to guide the corresponding movement of the tool 20 .

[0040] The manipulator control device 60 continuously controls the movement of the target virtual boundary 80 and the intermediate virtual boundary 90. In some cases, the anatomy may be tracked dynamically from a first position to a second position during the procedure. In such a case, the manipulator control device 60 may move to the virtual boundary 80. , 90 will be updated to match the second position of the anatomy.

[0041] In one embodiment, the first mode and / or the second mode are an autonomous mode or a manual mode. An example of an autonomous mode and a manual mode is "Controlling a surgical instrument in multiple modes." No. 9,119,655, entitled "Surgical Manipulator Capable of Operatively Moving a Circumferential Object," No. 60 / 639,363, the disclosure of which is incorporated herein by reference.

[0042] In one embodiment, in a first mode, the system is operated in a manual mode. The operator manually instructs the manipulator 14 to move the surgical The operator controls the movement of the tool 20 and thus the energy applicator 24 in position. The manipulator 1 physically contacts the tool 20 to effect movement of the tool 20. 4 is the force applied to the tool 20 by the operator to position the tool 20; These forces and torques are monitored by sensors that are part of the manipulator 14. In response to the applied forces and torques, the manipulator 14 The actuator performs movements that may occur based on the forces and torques applied by the actuator. The tool 20 is mechanically moved in the first mode. The virtual boundary 90 acts as a haptic boundary. The manipulator 14 provides haptic feedback to the operator and allows for the creation of intermediate virtual boundaries. For example, the manipulator 14 indicates the position of the intermediate virtual boundary 90 to the operator. By inhibiting or preventing the movement of the tool 20 beyond 90, the operator is able to When the boundary 90 is reached, the virtual wall will be detected by touch.

[0043] At any time during manual processing in the first mode, or after the processing in the first mode is completed, the system 10 can perform a switch from the first mode to the second mode. In one embodiment, the switch between the first mode and the second mode is performed in response to a manual input. For example, the operator can remotely manage which of the first and second modes is active using certain controls. Alternatively, the switch may be performed autonomously according to a specific event or condition. For example, the system 10 may determine that the required amount of tissue has been removed in the first mode and, accordingly, may be configured to perform a switch to the second mode. Those skilled in the art will understand that the switch between the first mode and the second mode may be performed by other methods not explicitly described herein.

[0044] In the second mode, in one embodiment, the manipulator 14 is configured to direct the autonomous movement of the tool 20 at the surgical site, and thus the energy applicator 24. The manipulator 14 can move the tool 20 without the assistance of the operator. "Without the assistance of the operator" means that the operator does not physically contact the tool 20 to apply a force to move the tool 20. Instead, the operator will remotely manage the start and stop of the movement using certain controls. For example, the operator may press a remote control button to start the movement of the tool 20 and release the button to stop the movement of the tool 20. Alternatively, the operator may press a button to start the movement of the tool 20 20 and release the button to stop the movement of the tool 20. and release the button to stop the movement of the tool 20. Further, it may be configured to press a button to stop the movement of the tool 20. In the second mode, the movement of the tool 20 will be restricted in relation to the target virtual boundary 80.

[0045] The system 10 and method advantageously provide an opportunity to selectively control the activation of the intermediate virtual boundary 90 between the first and second modes. This allows the system 10 and method to provide various virtual boundary configurations for each of the first and second modes, resulting in increased flexibility of the surgical system and the operator's technique. In some embodiments, this advantageously provides an opportunity for the operator to use the manipulator 14 to perform bulk machining in the first mode. The operator may first manually activate the tool 20 to remove large masses of tissue, which may also be referred to as debulking. An operator aware that the intermediate virtual boundary 90 restricts the tool 20 away from the target surface 92 can take measures to perform bulk machining significantly faster than during autonomous machining. Once the tissue mass has been manually removed, the system 10 can be switched to the second mode to perform autonomous machining of the remaining tissue in a highly accurate and controlled manner. In other words, in the second mode, the operator needs to make fine positioning decisions of the instrument to define the surface of the remaining tissue. This part of the procedure is also known as a finishing cut. This finishing cut is made possible because the intermediate virtual boundary 90 is deactivated and the target virtual boundary 80 is activated.

[0046] [III. Other Embodiments] The target and virtual boundaries 80, 90 may be derived from various input values to the manipulator 14, and more specifically, to the boundary generator 66. As one input value to the boundary generator 66, a preoperative image of the site where the procedure is to be performed may be mentioned. If the manipulator 14 is configured to selectively remove tissue so that a graft is attached to the patient 1 2, then a second input value to the boundary generator 66 is a map of the shape of the graft. An initial version of this map may be obtained from a graft database. The shape of the graft defines the boundary of the tissue to be removed to receive the graft. This relationship is particularly applicable in the case of a plastic surgery graft intended to be attached to the bone of the patient 12.

[0047] Other input values to the boundary generator 66 are operator settings. These settings may be values that indicate which tissue the energy applicator 24 should act on. If the energy applicator 24 is configured to remove tissue, the setting may be a value that identifies the boundary between the tissue to be removed and the tissue that remains after the action of the energy applicator 24. If the manipulator 14 is configured to facilitate the attachment of a plastic surgery graft, these settings may be values that define where the graft should be positioned on which tissue. These settings may be input preoperatively using a data processing unit. Alternatively, these settings may be input by an input / output unit associated with one of the components of the system 10, for example, the navigation interfaces 40, 42.

[0048] ​​​​​​​​​​Based on the foregoing input data and commands, the boundary generator 66 may generate a target virtual boundary 80 and an intermediate virtual boundary 90. The boundaries 80, 90 may be two-dimensional or three-dimensional. For example, the target virtual boundary 80 and the intermediate virtual boundary 90 may be generated as a virtual map or other three-dimensional model as shown. The generated map or model will guide the movement of the tool 20. The model may be displayed on the display 38 to indicate the position of the object. In addition, information about the model is transmitted to the manipulator control device 60 and may be configured to guide the corresponding movement of the manipulator 14 and the tool 20 in relation to the target virtual boundary 80 and the intermediate virtual boundary 90.

[0049] In practice, prior to the start of the procedure, the operator at the surgical site may set an initial version of the target virtual boundary 80 and the intermediate virtual boundary 90. At the start of the procedure, data that more accurately defines the graft to be actually implanted in the patient 12 is read into the boundary generator 66. Such data may be obtained from a storage device associated with the graft, such as a memory stick or an RFID tag. Such data may be a component of the graft database data supplied to the boundary generator 66. These data are based on post-manufacture measurements of a particular graft. These data may result in a definition of the shape of a particular graft that is somewhat different from the available definition stored in advance of the shape of the graft due to manufacturing variations. Based on the data specific to the graft, the boundary generator 66 determines the target virtual boundary 80 and the intermediate that indicate the boundary between the tissue to be removed and the tissue to be left intact. virtual boundary 90. ​​​​​The virtual boundary 90 may be updated. As an example of a graft to be implanted within the patient 12, the one shown in U.S. Patent Application No. 13 / 530,927, filed Jun. 22, 2012, entitled "Artificial Graft and Method of Transplantation", may be mentioned. This document is hereby incorporated by reference in its entirety. After an appropriate amount of material, e.g., bone, has been removed, the grafts disclosed herein may be implanted within the patient 12. Other grafts are also contemplated.

[0050] In one embodiment, the target virtual boundary 80 is configured to be derived from points in a coordinate system associated with the biological structure. The target virtual boundary 80 may be interpolated by connecting each of the captured points to one another. This results in a web or mesh that defines the target virtual boundary 80. If only two points are captured, the target virtual boundary 80 will be a line between these points. If three points are captured, the target virtual boundary 80 will be formed by two lines connecting adjacent points to one another. The display 38 may provide virtual feedback of the resulting target virtual boundary 80 shape. The input devices 40, 42 may be utilized to control and modify the target virtual boundary 80, e.g., by moving the boundary, expanding or contracting the boundary, or changing the shape of the target virtual boundary 80. Those skilled in the art will understand that the target virtual boundary 80 may be generated by other methods not specifically described herein.

[0051] Alternative arrangements and configurations of the target virtual boundary 80 are shown in FIGS. 7 and 10. In some cases, as shown in FIG. 7, a position is located between the target virtual It is appropriate to not cause any misalignment, but rather to directly align the target virtual boundary 80 with the target surface 92. For example, depending on the machining characteristics of the tool 20, the tool 20 may not exceed the target virtual boundary 80. Additionally or alternatively, the tool 20 may include a center point of the energy applicator 24. The energy applicator 24 may be tracked based on points on its exterior surface rather than on the surface of the energy applicator 24. In such a case, the target virtual boundary 80 is made to coincide with the target surface 92, so that the target surface 92 is In yet another embodiment, the tool 20 is a tool The tracking may be based on an envelope that outlines the range of motion of the outer surface of the 20. For example, When the tool 20 is a saw blade, the envelope is the circumference of the outer surface of the saw blade during vibration of the saw blade. This will include the range of movement of the exterior surface of the saw blade such that the movement is captured within the envelope. The positioning of the target virtual boundary 80 may take such an envelope into account.

[0052] In another example, as shown in FIG. 5, the target virtual boundary 80 is generally aligned with the target surface 92. Instead, the target virtual boundary 80 is spaced apart from the target surface 92 and does not extend beyond the target surface 92. Those skilled in the art will recognize that the target virtual boundary 80 may be located in other locations not specifically described herein. It will be understood that the configuration may be

[0053] The intermediate virtual boundary 90 may be formed in a manner similar to that of the target virtual boundary 80. Essentially, the controller 30 may derive the intermediate virtual boundary 90 from the target virtual boundary 80. For example, The controller 30 copies the target virtual boundary 80 to form the intermediate virtual boundary 90. A copy of the target virtual boundary 80 may be used in any suitable manner to form the intermediate virtual boundary 90. It may be modified or deformed by a cutting method. For example, the copy of the target virtual boundary 80 may be subjected to translation, transfer, inclination, dimensional change, rotation, reflection, and similar modifications. Those skilled in the art will understand that the intermediate virtual boundary 90 may be derived from the target virtual boundary 80 by other methods not specifically described herein.

[0054] The target virtual boundary 80 and the intermediate virtual boundary 90 may have any suitable contour. For example, as shown in FIG. 5, the target virtual boundary 80 may have a contour similar to that of the target surface 92. In FIG. 10, the target virtual boundary 80 has a planar or flat contour. In FIG. 4, the intermediate virtual boundary 90 has a contour similar to that of the target surface 92. In FIG. 9, the intermediate virtual boundary 90 has a planar or flat contour. Those skilled in the art will understand that the target virtual boundary 80 and the intermediate virtual boundary 90 may have other contours not specifically described herein.

[0055] The target virtual boundary 80 and the intermediate virtual boundary 90 do not necessarily have the same contour, as shown in FIG. 4. Instead, the boundaries 80, 90 may have different contours from each other, as shown in FIG. 9. In FIG. 9, the contour of the target virtual boundary 80 is the same as that of the target surface 92, and the contour of the intermediate virtual boundary 90 is planar. Of course, those skilled in the art will understand that the contour of either of the boundaries 80, 90 may be different from that shown in FIG. 9. The contour of each of the boundaries 80, 90 may be manually or automatically generated by any suitable technique. Some factors, for example, but not limited to, the tools used will be considered. It is beneficial to have various contours according to the tool 20 and / or the model.

[0056] Considering the first mode, several different embodiments of the target virtual boundary 80 are possible. As described above, in the first mode, the intermediate virtual boundary 90 is activated, and the tool 20 is constrained in relation to the intermediate virtual boundary 90. However, in the first mode, the activation and deactivation of the target virtual boundary 80 may be controlled. For example, as shown in FIGS. 4, 6, and 9, in the first mode, the target virtual boundary 80 may be activated, and at the same time, the intermediate boundary 90 may also be activated. In one example, this may be done for redundancy purposes. As described above, since the intermediate boundary 90 acts as a resection boundary, it is an important feature of the system 10. An error in the execution of the intermediate boundary 90 may expose the target surface 92 to the error. By activating the target virtual boundary 80 simultaneously, the system 10 can enhance reliability by having the target virtual boundary 80 as a backup for the intermediate virtual boundary 90. Thereby, the manipulator 14 can operate faster by knowing that the target virtual boundary 80 is provided as a redundant boundary. Alternatively, as shown in FIG. 8, the target virtual boundary 80 may be deactivated in the first mode. This may be done to conserve computing resources and reduce the complexity of execution. However, in the first mode, the activation and deactivation of the target virtual boundary 80 may be controlled. For example, as shown in FIGS. 4, 6, and 9, in the first mode, the target virtual boundary 80 is activated, and at the same time, the intermediate boundary 90 is also activated. As described above, in the first mode, the target virtual boundary 80 may be activated, and at the same time, the intermediate boundary 90 may also be activated. In one example, this may be done for redundancy purposes. As described above, since the intermediate boundary 90 acts as a resection boundary, it is an important feature of the system 10. An error in the execution of the intermediate boundary 90 may expose the target surface 92 to the error. By activating the target virtual boundary 80 simultaneously, the system 10 can enhance reliability by having the target virtual boundary 80 as a backup for the intermediate virtual boundary 90. Thereby, the manipulator 14 can operate faster by knowing that the target virtual boundary 80 is provided as a redundant boundary. Alternatively, as shown in FIG. 8, the target virtual boundary 80 may be deactivated in the first mode. This may be done to conserve computing resources and reduce the complexity of execution. As shown in FIG. 8, the target virtual boundary 80 may be deactivated in the first mode. This may be done to conserve computing resources and reduce the complexity of execution. This may be done to conserve computing resources and reduce the complexity of execution.

[0057] The control of the target virtual boundary 80 in the first mode may be performed automatically or manually. For example, the operator may manually activate or deactivate the target virtual boundary 80 in the first mode. Alternatively, the system 10 may be configured to automatically activate or deactivate the target virtual boundary 80 based on certain conditions. For example, the operator may manually activate or deactivate the target virtual boundary 80 in the first mode. Alternatively, the system 10 may be configured to automatically activate or deactivate the target virtual boundary 80 based on certain conditions. depend on the event or condition, it may be appropriate to activate the target virtual boundary 80 to be dynamically determined. For example, detection of instability of the system 10 will result in automatic activation of the target virtual boundary 80 in the first mode.

[0058] The first mode and the second mode may be different from each other in form (i.e., manual / autonomous) depending on the application and various other factors, or may be in the same form. One such factor is the period of the operating procedure that is greatly affected by the feed rate of the tool 20. The feed rate is the speed at which the distal end of the energy applicator 24 advances along the path area. Generally, in the autonomous mode, the manipulator 14 is more accurate but results in a slower feed rate than in the manual mode. In the manual mode, the manipulator 14 is less accurate but can result in a faster feed rate than in the autonomous mode. This trade-off between accuracy and feed rate is one factor indicating which form of control should be implemented during the first and second modes.

[0059] The frequency of the back-and-forth vibration of the tool 20 along the resection path 70 may be different between the first mode and the second mode. Generally, the higher the frequency of the vibration, the smaller the amplitude of the resection path 70 and the "finer" the cut provided by the tool 20. On the other hand, the lower the frequency of the vibration, the larger the amplitude of the resection path 70 and the "bulkier" the cut provided by the tool 20.

[0060] Generally, when the tool 20 crosses the resection path 70, the tool 20 is shown in FIGS. 13 and 14. As shown, a rib 110 is formed in the biological structure (distal thigh). An example of such a rib is shown in U.S. Patent Application No. 14 / 195,113, entitled "Bone Pad". This disclosed content is hereby incorporated by reference. The specific three-dimensional shape of the rib 110 is obtained, for example, by a rotary tool such as a bar that forms a plurality of channel portions 112. In the illustrated embodiment, the plurality of channel portions 112 follow a substantially linear path obtained from the reciprocating motion of the tool 20 along the resection path 70. The rib 110 has a height 114, a width 116, and a plurality of protrusions 118. When showing resection paths 70 with different vibration frequencies in the first and second modes, the first and second modes will result in ribs 110 having different shapes.

[0061] In one example, the vibration frequency is greater in the second mode than in the first mode. For example, FIGS. 13A - 13C show the rib 110 resulting from bulk resection in the first mode, and FIGS. 14A - 14C show the rib 1 10 resulting from fine resection in the second mode. As a result, the rib 110 is formed differently between the first mode and the second mode. Specifically, the rib 1 10 formed in the first mode (FIG. 13B) shows a greater vertex - to - vertex distance between adjacent ribs 110 compared to the rib 110 (which are closer to each other) formed in the second mode (FIG. 14B). The height and / or width of the rib 110 may also be different between the first mode and the second mode. For example, the width 116 of the rib 110 in the bulk resection mode (FIG. 13C) is greater than the width 116 of the rib 110 in the fine resection mode (FIG. 14C). Conversely, in the bulk resection mode ... (FIG. 13C) The height 114 of the rib 110 is less than the height 114 of the rib 110 in the micro resection mode (FIG. 14C). Additionally, the geometric shape of the protrusion 118 formed in the first mode may be different from that formed in the second mode. The first and second modes advantageously result in various surface finishes suitable for specific applications. One skilled in the art will recognize that the first and second modes may result in differences in the characteristics of biological structures other than those

[0062] described herein with respect to the rib. In one embodiment, the first mode is an autonomous mode and the second mode is a manual mode. In the first mode, the movement of the tool 20 is performed autonomously and is constrained with respect to the intermediate virtual boundary 90. The autonomous machining in the first mode can be switched to manual machining in the second mode. In the second mode, the movement of the tool 20 is performed manually and is constrained with respect to the target virtual boundary 80. Specifically, the operator will, depending on the surgical system 10, perform most of the tissue machining autonomously in the first mode. Optionally, the operator may switch to manual machining in the first mode to directly interact with the target virtual boundary 80 closer to the target surface 92. By doing so, the operator can perform multi-objective procedures, such as irregular surface finishing on the target surface 92. With the system 10 and method, the operator can create a final incision on the target surface 92 that better secures the graft than planned by autonomous In the mode, by enabling the intermediate virtual boundary 90, additional margin is given to the operation during the autonomous machining. This is because the intermediate virtual boundary 90 is separated from the target virtual boundary 80. In other embodiments, both the first and second modes are manual modes. In the first mode, the movement of the tool 20 is manually performed and restricted in relation to the intermediate virtual boundary 90. The manual machining in the first mode can be switched to the manual machining in the second mode. The manual machining is also saved in the second mode, but the boundary configuration changes. This is because the intermediate virtual boundary 90 is disabled. In the second mode, the movement of the tool 20 is manually performed and restricted in relation to the target virtual boundary 80. This embodiment advantageously provides an opportunity for the operator to perform bulk machining in the first and second modes using the manipulator 14. The operator who knows that the intermediate virtual boundary 90 restricts the tool 20 to move away from the target surface 92 can perform bulk machining that is significantly faster and more aggressive than during autonomous machining. Once the bulk of the tissue is manually removed in the first mode, the system 10 may be switched to the second mode to enable manual machining of the remaining part of the tissue. In the second mode, the operator can manually generate an irregular surface finish or a fine surface finish on the target surface 92 with respect to the target virtual boundary 80. 0.

[0063] In other embodiments, both the first and second modes are autonomous modes. In the first mode, the movement of the tool 20 is autonomously performed and restricted in relation to the intermediate virtual boundary 90. In the first mode, the movement of the tool 20 is manually performed and restricted in relation to the intermediate virtual boundary 90. The manual machining in the first mode can be switched to the manual machining in the second mode. The manual machining is also saved in the second mode, but the boundary configuration changes. This is because the intermediate virtual boundary 90 is disabled. In the second mode, the movement of the tool 20 is manually performed and restricted in relation to the target virtual boundary 80. This embodiment advantageously provides an opportunity for the operator to perform bulk machining in the first and second modes using the manipulator 14. The operator who knows that the intermediate virtual boundary 90 restricts the tool 20 to move away from the target surface 92 can perform bulk machining that is significantly faster and more aggressive than during autonomous machining. Once the bulk of the tissue is manually removed in the first mode, the system 10 may be switched to the second mode to enable manual machining of the remaining part of the tissue. In the second mode, the operator can manually generate an irregular surface finish or a fine surface finish on the target surface 92 with respect to the target virtual boundary 80. Once the bulk of the tissue is manually removed in the first mode, the system 10 may be switched to the second mode to enable manual machining of the remaining part of the tissue. In the second mode, the operator can manually generate an irregular surface finish or a fine surface finish on the target surface 92 with respect to the target virtual boundary 80. In the second mode, the operator can manually generate an irregular surface finish or a fine surface finish on the target surface 92 with respect to the target virtual boundary 80. Generated.

[0064] In still other embodiments, both the first and second modes are autonomous modes. In the first mode, the movement of the tool 20 is autonomously performed and restricted in relation to the intermediate virtual boundary 90. In the first mode, the movement of the tool 20 is autonomously performed and restricted in relation to the intermediate virtual boundary 90. It can be switched. The self-regulating process in the first mode can be switched to the self-regulating process in the second mode. The switch to the second mode maintains the self-regulating process but invalidates the intermediate virtual boundary 90, thereby changing the boundary configuration. In the second mode, the movement of the tool 20 is carried out autonomously and is constrained in relation to the target virtual boundary 80. This embodiment advantageously provides an opportunity to autonomously process tissue in a highly precisely controlled manner through the first and second modes. In addition, after the self-regulating process in the first mode, the operator can inspect the tissue. In other words, instead of completely autonomously processing up to the target surface 92, by using the first mode as the first stage, the operator can check the progress and accuracy of the self-regulating resection before invalidating the intermediate virtual boundary 90 in the second mode.

[0065] In one embodiment, the system and method are adapted to execute 'n' modes. For example, the system and method can execute three or more modes. The first mode may be a manual mode. The second mode may be, for example, an autonomous mode showing autonomous block resection as shown in FIG. 13. The third mode may be, for example, an autonomous mode showing autonomous micro resection as shown in FIG. 14. Those skilled in the art will understand that any of the 'n' modes may be modes other than the autonomous modes or manual modes described herein.

[0066] The system and method may set 'n' virtual boundaries. For example, the system and method may set three or more virtual boundaries. The 'n' virtual boundaries correspond to the 'n' modes.​​​​​ It may be executed for. An example of three virtual boundaries is shown in FIG. 15. In FIG. 15 wherein, a first virtual boundary 90, a second virtual boundary 80, and a third virtual boundary 120 are related to the biological structure. Here, the first virtual boundary 90 is provided to facilitate the removal of cartilage and the surface layer of bone and the second virtual boundary 80 is provided to facilitate the removal of a deeper layer of bone for placing the graft and the third virtual boundary 120 is provided to facilitate the formation of a machining hole for inserting a peg / tail for fixing the graft . In the first mode, the first virtual boundary 90 is activated. In the first mode, the movement of the tool is restricted in relation to the first virtual boundary 90. In the second mode, the first virtual boundary 90 is deactivated. In the second mode, it may be maintained that the third virtual boundary 120 is activated . In the second mode, the movement of the tool is restricted in relation to the second virtual boundary 80 . In the third mode, the second virtual boundary 80 is deactivated. In the third mode the movement of the tool is restricted in relation to the third virtual boundary 120.

[0067] In some embodiments, the 'n' virtual boundaries are specific to the tissue. That is, the virtual boundaries are configured to restrict the tool 20 in relation to different types of tissue. For example the 'n' virtual boundaries may be configured to restrict the tool in relation to soft tissue, cartilage, bone, ligament, etc. This may be done to protect a particular tissue from machining by the tool 20 .

[0068] Additionally or alternatively, the 'n' virtual boundaries are specific to the region / position. That is, the virtual The imaging boundary is configured to constrain the tool 20 in relation to various regions or positions. For example for example, 'n' virtual boundaries may be configured to constrain the tool 20 in relation to other objects in the surgical site, such as retractors, other tools , trackers, etc. Additionally, any one of the 'n' virtual boundaries may be configured to function as an irrigation boundary to prevent the tool 20 from approaching a wet location where the biological structure is being irrigated . Those skilled in the art will recognize that the 'n' virtual boundaries and the 'n' modes may be implemented by various other techniques not specifically described herein .

[0069] In other embodiments, the 'n' virtual boundaries may be used in conjunction with two or more surgical tools 20 . For example, as shown in FIG. 16, a first surgical tool 20a and a second surgical tool 20b are provided . The tools 20a, 20b are configured to move in a coordinated and / or synchronized manner . The first virtual boundary 90 is defined in relation to the upper surface of the biological structure , and the second and third virtual boundaries 80, 120 are defined along the left and right surfaces of the biological structure, respectively . Here, the virtual boundaries 80, 90, 120 may be activated simultaneously . Further, the virtual boundaries 80, 90, 120 may intersect or contact each other . In other examples, one tool 20 is used for processing, and the other tool is used for tissue removal . In such a case, one virtual boundary may function as a processing constraint boundary, and the other virtual boundary may function as a tissue traction boundary to prevent the traction tool from disengaging from the intended traction area .

[0070] ​​Any one of the 'n' virtual boundaries may be defined with respect to the biological structure such that the virtual boundary moves as the position of the biological structure changes. This may be achieved using the navigation technology and control technology described herein. When this occurs.

[0071] The 'n' virtual boundaries may be defined with respect to the same biological structure, as shown throughout the drawings, for example. In such a case, each of the 'n' virtual boundaries will follow the biological structure as it moves. Alternatively, the 'n' virtual boundaries may be defined in relation to various biological structures. For example, some of the 'n' virtual boundaries may be defined in relation to the femur, and some of the other 'n' virtual boundaries may be defined in relation to the tibia. This is done to protect the tibia from unexpected machining. In such a case, the space between the virtual boundaries may be changed according to the respective movements between the femur and the tibia.

[0072] The control device 30 is adapted to detect when the first mode is switched to the second mode or vice versa when the second mode is switched to the first mode. The control device 30 is adapted to issue a warning to the operator to inform the operator whether the restraint of the tool 20 occurs in relation to either the target virtual boundary 80 or the intermediate virtual boundary 90. The warning may be visual, tactile, auditory, and the like. One skilled in the art will understand that the warning may be implemented by various other methods not specifically described herein.

[0073] In some cases, when the system 10 is switched to the first mode, the tool 20 is in the second mode. ​​​​​​​​​​​In such a case, the tool 20 may be within the area 100 in the intermediate virtual boundary. The object is captured between the target boundary 80 or the target surface 92. As shown in FIG. 11, the target virtual boundary 80 remains enabled in the first mode. This causes the tool 20 to be captured between the intermediate virtual boundary 90 and the target virtual boundary 80. In another example, as shown in FIG. 12, the target virtual boundary 80 is 92. has been captured.

[0074] Such capture of the tool 20 may be intentional or unintentional. When unintentional, the control device 30 detects when the second mode is switched to the first mode. The position of the tool 20 may be evaluated to prevent the tool 20 from being captured. For example, if tool 20 was in area 100 when it was switched to the first mode, Then, the control measure 30 controls the tool 20 so that the tool 20 is pulled beyond the intermediate virtual boundary 90. The manipulator 14 may be directed to pull the tool out of the area 100. This entails temporarily disabling the intermediate virtual boundary 90 to allow for the departure of the In other cases, the tool 20 may be captured within the area 100 in the first mode. The capture of the tool 20 may be contemplated with the intermediate virtual boundary 90 as the upper restraining or resection boundary. As shown, in the second mode, tool 2 The first mode then penetrates the tissue in area 100 with a narrow incision. The mode is re-enabled to capture the tool 20 in the area 100 by the intermediate virtual boundary 90. An operator who knows that the tool 20 is constrained as described above can automatically or autonomously remove the tissue within the area 1 00. This configuration is useful when forming holes or the like in the tissue.

[0075] Some embodiments have been discussed above. However, the embodiments discussed here are not intended to be comprehensive, that is, they are not intended to limit the present invention to any particular form. The technical terms used are for the convenience of description and are not intended to be limiting. In light of the above suggestions, many modifications and changes are possible, and the present invention may be implemented by methods other than those specifically described.

[0076] Many features and advantages of the present invention are apparent from the detailed description, and thus, it is intended by the appended claims to encompass all such features and advantages of the present invention that are within the true spirit and scope of the present invention. Furthermore, since numerous modifications and changes can be readily made by those skilled in the art, it is not required to limit the present invention to the exact structures and operations illustrated and described, and accordingly, all suitable modifications and equivalents are intended to be included within the scope of the present invention. ​​​​​​​

Claims

1. 1. A surgical system for modifying a biological structure, comprising: a manipulator having a base and a linkage; a tool coupled to the manipulator for interacting with the anatomy; a tool movable relative to the base; A first virtual boundary associated with the anatomical structure and a second virtual boundary associated with the anatomical structure. and configured to generate a first mode and a second mode to control movement of the tool. a control device for controlling the tool relative to the first virtual boundary in the first mode; and in the second mode, activating the first virtual boundary to constrain the front and rear of the vehicle. In order to constrain the tool relative to the second virtual boundary, the first virtual boundary is disabled. A control device Equipped with a surgical system.

2. The control device, in the first mode, The surgical system of claim 1 , configured to prevent

3. The control device, in the second mode, The surgical system of claim 1 , configured to enable:

4. A region is defined between the first and second virtual boundaries, and the controller determines whether the tool is The tool is prevented from penetrating the area in the first mode and the tool is prevented from penetrating the area in the second mode.

2. The method of claim 1, further comprising: Surgical systems.

5. The external device according to claim 1 , wherein the first virtual boundary is spaced apart from a target surface of the anatomical structure. Departmental system.

6. The first mode is one of an autonomous mode and an automatic mode, and the second mode is The surgical system of claim 1 , wherein the system is in the other of the autonomous mode and the manual mode.

7. The first and second modes are either both autonomous modes or both manual modes. The surgical system of claim 1 .

8. a feed rate of the tool is different between the first and second modes; The surgical system according to any one of claims 1 to 7.

9. The control device is configured to enable the second virtual boundary in the first mode. The surgical system according to any one of claims 1 to 7, wherein the surgical system comprises:

10. The first virtual boundary is further defined as an intermediate virtual boundary, and the second virtual boundary is further defined as an intermediate virtual boundary. The method according to any one of claims 1 to 7, wherein the boundary is further defined as a target virtual boundary. Surgical systems.

11. 8. The method according to claim 1, wherein the first imaginary boundary is spaced apart from the second imaginary boundary.

13. A surgical system according to claim 12.

12. The controller controls the tool to perform a mass resection of the anatomical structure in the first mode. and for micro-ablating the biological structure in the second mode. The surgical instrument of any one of claims 1 to 7, adapted to control a tool. system.

13. 1. A method of operating a surgical system for tooling a biological structure, comprising: defining a first virtual boundary associated with the anatomical structure; defining a second virtual boundary associated with the anatomical structure; enabling the first virtual boundary in a first mode; In the first mode, constraining movement of the tool relative to the first virtual boundary. Steps and in a second mode, disabling the first virtual boundary; In the second mode, constraining movement of the tool relative to the second virtual boundary. Steps and A method comprising:

14. In the first mode, a switch is provided to prevent the tool from reaching the second virtual boundary. The method of claim 13 further comprising the step of:

15. In the second mode, allowing the tool to reach the second virtual boundary. The method of claim 13 further comprising the steps of:

16. defining an area between the first and second virtual boundaries; to prevent the tool from penetrating the area, and and allowing penetration of the area.

17. The step of defining the first virtual boundary may include defining the first virtual boundary as a boundary of the anatomy. The method of claim 13 further defined as being spaced from the target surface.

18. The step of constraining movement of the tool in the first mode includes an autonomous mode and a second manual mode before restricting movement of the tool in the second mode; 14. The method of claim 13, wherein the steps are performed by the other of the autonomous mode and the manual mode. The method according to

19. The step of constraining the movement of the tool in the first mode and the step of constraining the movement of the tool in the second mode and wherein both of the steps of constraining movement of the tool in an autonomous mode or an automatic mode are The method according to claim 13, wherein the method is carried out by any one of the following:

20. operating the tool according to different feed rates between the first and second modes; The method of any one of claims 13 to 19, further comprising:

21. The method of claim 1 further comprising the step of manually switching between the first and second modes.

20. The method according to any one of items 13 to 19.

22. 2. The method of claim 1, further comprising the step of autonomously switching between the first and second modes.

20. The method according to any one of 3 to 19.

23. and in the first mode, further comprising enabling the second virtual boundary. The method according to any one of claims 13 to 19.

24. In the first mode, the anatomy is cut and in the second mode, the anatomy is cut. The method of any one of claims 13 to 19, further comprising microdissecting the body structure. 。

25. The first virtual boundary is further defined as an intermediate virtual boundary, and the second virtual boundary is further defined as: The method of any one of claims 13 to 19, further defined as a target virtual boundary.

26. the first imaginary boundary and the second imaginary boundary being spaced apart from each other.

20. The method according to any one of claims 13 to 19.

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