Surgical systems and methods for guiding robotic manipulators

Abstract

To provide a surgical system comprising a tool for engaging a target site, a manipulator configured to support the tool, and a sensing system configured to detect one or more system conditions associated with one or more of the tool, the manipulator, the target site, or combinations thereof.SOLUTION: A controller is coupled to a manipulator 102. A sensing system is configured to operate the manipulator between: a first mode to maintain alignment of a tool with respect to a target site according to a first constraint criterion, and a second mode to maintain alignment of the tool with respect to the target site according to a second constraint criterion different from the first constraint criterion. The controller changes operation of the manipulator from the first mode to the second mode in response to determining that at least one of the one or more system conditions satisfies a predetermined condition.SELECTED DRAWING: Figure 14D

Description

[Technical Field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] This application is a continuation of U.S. Provisional Patent Application No. 62 / 908,915, filed October 1, 2019. and all rights and interests therein, the entire disclosure of which is incorporated herein by reference. Let's say. [Background technology]

[0002] Robotic manipulators help medical professionals perform a variety of traditional surgical procedures For this purpose, surgeons often use surgical robots or Another type of manipulator is used to move various tools, components, and The prosthesis or the like may be guided, positioned, moved, actuated, or otherwise manipulated.

[0003] Surgical robots are used to assist surgeons in performing many different types of surgical procedures. It can be used to correct, remove, or repair degenerative joints to improve patient mobility and relieve pain. As an illustrative example, in hip replacement surgery, The surgeon replaces part of the patient's hip joint with an artificial prosthetic component. In a total hip replacement, the surgeon removes part of the patient's femur, usually including the head. The artificial femoral component is accommodated and the acetabulum of the pelvis is resurfaced with a reamer to form the prosthesis. This prompts the installation of a prosthetic cup shaped to receive the component.

[0004] Depending on the particular procedure being performed, surgical robots may provide the surgeon with access to the surgical site. assist in the removal of joints and / or bone segments and the installation of prosthetic components, etc. For example, surgical instruments can be used to attach a prosthetic cup to the acetabulum of the pelvis. The surgeon connects the cup to the impactor and applies force by striking the impactor (e.g., with a mallet). The cup is then implanted into the prepared acetabulum by means of a stent or other device. To achieve this, the surgical robot helps maintain alignment of the impactor with the acetabulum and The surgeon must carefully monitor the cup trajectory and depth during impaction to ensure proper cup alignment. Here, reaming or resection of the acetabulum generally ensures that the cup is It defines the position, which in turn defines the impact trajectory, which is then used by the navigation system. The patient's posture can be monitored via a tracker fixed to the pelvis, which is tracked via the pelvis.

[0005] Depending on the configuration of the prosthetic components, impaction tool, and surgical robot, With certain approaches and surgical techniques, it may be difficult to maintain a set trajectory. This can lead to displacement of the cup or other prosthetic components, often due to improper alignment. Furthermore, the cup may be implanted in a reamed acetabulum. When implanted, the patient's body is moved by the impactor and surgical robot in one or more degrees of freedom. This effectively makes the robot physically attached to the bone, where a surgical robot would typically To limit the impactor's movement relative to the trajectory based on trackers fixed to the board, Misalignment that can occur during impaction between the cup and the orbit can sometimes cause problems during impaction. The impactor and pelvis are then attached to the surgical robot, which attempts to return the impactor tool to alignment with the orbit. This leads to a "runaway" state where the robot and the pelvis are simultaneously moved. Because of the physical connection, this type of "escape" condition can result in unwanted patient movement and / or This can result in the dislodging of the implanted or partially implanted cup.

[0006] Similar "escape" situations have been observed using various types of tools guided by surgical robots. Non-limiting examples include powered surgical devices. an energy source configured to remove tissue at a surgical site using a tool including a vice; The applicator can be driven by an energy applicator, where, under certain operating conditions, The energy applicator effectively creates a lock-up condition between the energy applicator and the tissue. For example, a pilot hole may be formed in the pedicle of a spine. Sometimes the rotating instrument or burr that drives the drill bit can slip and get stuck in the bone Again, a "runaway" condition refers to the energy absorber engaging the patient and / or tissue such as bone. This can result in undesired movement of the applicator.

[0007] Therefore, there is a need in the art to address one or more of these deficiencies. It remains. Summary of the Invention

[0008] This Summary presents a simplified selection of concepts that are further described below in the Detailed Description. This Summary is provided to introduce the invention in an organized form. It is not intended to be limiting and does not include all important or essential features of the claimed subject matter. It does not necessarily identify the symptoms.

[0009] According to a first aspect, a tool for engaging a target site and a device configured to support the tool are provided. The manipulator and the tool, manipulator, target part, or a combination thereof to detect one or more system conditions related to one or more of the following combinations: a sensing system configured to sense the first constraint group coupled to the manipulator and the sensing system; A first step to maintain alignment of the tool to the target site according to constraint criteria. The tool is then applied to the target area according to a first mode and a second constraint criterion different from the first constraint criterion. Configured to operate the manipulator between the first and second modes to maintain alignment of the and a controller configured to further configure one or more system conditions. In response to determining that at least one of the items satisfies a predetermined condition, a surgical system configured to change operation from a first mode to a second mode; Provided.

[0010] According to a second aspect, there is provided a method of operating the surgical system of the first aspect.

[0011] According to a third aspect, a tool for engaging a target site along a trajectory, a support for the tool, and a manipulator configured to generate force between the target site and the manipulator. at least one sensor configured to acquire measurements indicative of the manipulator; a tool coupled to the at least one sensing system and adapted to measure the trajectory according to a first constraint criterion; The first mode is to maintain the consistency of the first constraint, and the second mode is to follow a different constraint from the first constraint. The manipulator is then switched between the first and second modes to maintain alignment of the tool with the trajectory. and a controller configured to operate the force. In response to determining that a predetermined condition is met, the operation of the manipulator is controlled by the first motor. A surgical system is provided that is configured to change from a surgical mode to a second mode.

[0012] According to a fourth aspect, there is provided a method of operating the surgical system of the third aspect.

[0013] According to a fifth aspect, a tool for engaging a target site and a method for engaging the tool with respect to the target site are provided. a manipulator configured to support a patient and adapted for attachment to a target site; a tracker and a navigation system configured to track the status of the patient tracker; and a manipulator and a navigation system, and the system is configured to: The first mode for maintaining alignment of the tool with the target portion is different from the first constraint criterion. a second model for maintaining alignment of the tool with respect to the target portion according to a second constraint criteria; and a controller configured to operate the manipulator between the controller and the manipulator. The controller will automatically update the tool's tracking status based on the tracking status received from the navigation system. and a tracked tool further configured to compare the measured movement with a movement of a patient tracker. In response to determining that the movement of the patient tracker matches the movement of the patient tracker, the controller and further configured to change the operation of the manipulator from the first mode to the second mode. A surgical system is provided.

[0014] According to a sixth aspect, there is provided a method of operating the surgical system of the fifth aspect.

[0015] According to a seventh aspect, a device having an interface for releasably securing a prosthesis thereto is provided. an impactor assembly, a chamber formed to receive the impactor assembly; a guide having a channel configured to support the guide against a target site along a trajectory; A manipulator, at least one sensor, and a manipulator and at least one sensor 1. A method of operating a surgical system including a controller coupled to a sensor, the controller a first mode for maintaining alignment of the guide with respect to the trajectory according to a first constraint criterion; and operating the manipulator according to a second constraint criterion different from the first constraint criterion. Operate the manipulator in a second mode to maintain alignment of the guide with the trajectory. and determining whether the target site and the manipulator are located based on measurements from the at least one sensor. detecting a force generated between the actuator and the sensor; and determining whether the force satisfies a predetermined condition. and change the operation of the manipulator from the first mode to the second mode accordingly. A method is provided that is configured to perform the steps of:

[0016] According to a seventh aspect, a tool for engaging a target site and a device configured to support the tool are provided. The manipulator and the tool, manipulator, target part, or a combination thereof to detect one or more system conditions related to one or more of the following combinations: A configured sensing system and a controller coupled to the manipulator and the sensing system. a manipulator for maintaining alignment of the tool with respect to the target portion according to a first constraint criterion; and operate the manipulator in response to detecting one or more system conditions. and operating the tool relative to the target region according to a second constraint criterion different from the first constraint criterion. and a controller configured to maintain alignment of the .

[0017] According to an eighth aspect, there is provided a method of operating the surgical system of the seventh aspect.

[0018] According to a ninth aspect, a tool for engaging a target site along a trajectory and a device for supporting the tool are provided. and a manipulator configured to generate a force between the target portion and the manipulator. at least one sensor configured to obtain measurements indicative of the manipulator and and at least one sensor, and adjusts the alignment of the tool relative to the trajectory according to a first constraint criterion. The manipulator is operated to maintain the force, and measurements taken indicative of the force are evaluated. In response, the manipulator is operated according to a second constraint criterion different from the first constraint criterion. a controller configured to maintain alignment of the tool with the trajectory. A system is provided.

[0019] According to a tenth aspect, there is provided a method of operating the surgical system of the ninth aspect.

[0020] According to an eleventh aspect, a tool for engaging a target site and a device for connecting the tool to the target site are provided. a manipulator configured to support the patient and a patient support member adapted for attachment to the target site; a patient tracker and a navigation system configured to track the state of the patient tracker. The system is coupled to a manipulator and a navigation system, and is configured to move the robot in accordance with a first constraint criterion. The manipulator is operated to maintain alignment of the tool with the target area, and navigation is performed. Based on the tracking status of the patient tracker received from the patient tracking system, Evaluate the tracked movement of the tool relative to the object, and depending on the evaluation, operate the manipulator to Maintaining alignment of the tool with respect to the target portion according to a second constraint different from the first constraint. and a controller configured to:

[0021] According to a twelfth aspect, there is provided a method of operating the surgical system of the eleventh aspect.

[0022] According to a thirteenth aspect, a tool for engaging a target site and a device for connecting the tool to the target site are provided. a manipulator configured to support the patient and a patient support member adapted for attachment to the target site; a patient tracker and a navigation system configured to track the state of the patient tracker. a controller coupled to the manipulator and the navigation system; constraining the movement of the tool relative to a virtual boundary associated with the target region according to a first constraint criterion; The manipulator is operated to track the patient tracker received from the navigation system. Based on the track state, the tracked movement of the tool relative to the movement of the patient tracker is evaluated and compared. In response to the comparison, the manipulator is operated to follow a second constraint criterion different from the first constraint criterion. and a controller configured to limit movement of the tool relative to the virtual boundary using the virtual boundary. A surgical system is provided.

[0023] According to a fourteenth aspect, there is provided a method of operating the surgical system of the thirteenth aspect.

[0024] Any of the above aspects can be combined in part or in whole. Any of the above aspects can be implemented with any of the following implementations.

[0025] In one implementation, the first constraint criterion is a first constraint by which the movement of the tool is limited relative to the target site. In one implementation, the second constraint criterion is the number of degrees of freedom that the tool motion can have relative to the target region. In one implementation, the second number of degrees of freedom is limited by the first In one implementation, the controller, in the first mode, maintain alignment of the tool relative to the target site based on the second degree of freedom; The manipulation is performed to maintain alignment of the tool with the target site based on the number of degrees of freedom. The device is further configured to operate on the data.

[0026] In one implementation, the second number of degrees of freedom is less than the first number of degrees of freedom, resulting in The controller must operate in the second mode with at least one more degree of freedom than in the first mode. , allowing movement of the tool relative to the target site. In one implementation, the first constraint criterion is At least one positional degree of freedom and at least one directional degree of freedom. The first constraint criterion and the second constraint criterion each include at least one directional degree of freedom. In this configuration, the first constraint criterion provides at least one more positional degree of freedom than the second constraint criterion. In one implementation, the first constraint criterion and the second constraint criterion include at least one common constraint criterion. Includes degree of freedom.

[0027] In one implementation, the first constraint criterion includes a first elasticity parameter, and the second constraint criterion includes a includes a second elasticity parameter that is different from the first elasticity parameter. The controller further operates the manipulator to generate a first elastic force in the first mode. and in a second mode, maintaining alignment of the tool relative to the target site based on the accuracy parameters. The method is configured to maintain alignment of the tool relative to the target site based on a second elasticity parameter. In one implementation, the controller is configured to: This allows for more flexible tool movement relative to the target site. The first elasticity parameter and the second elasticity parameter are respectively a target part at a common degree of freedom. The elastic movement of the tool relative to the position.

[0028] In one implementation, the tool defines a tool center point. In one implementation, the controller The manipulator is operated in a first mode to move away from the target portion according to a first constraint criterion. The tool is configured to limit the movement of the tool center point.

[0029] In one implementation, the controller operates the manipulator in a second mode to configured to limit movement of the tool center point away from the target portion according to a constraint criterion of There are.

[0030] In one implementation, the mode indicator is coupled to the controller. The controller determines whether at least one of the one or more system conditions meets a predetermined condition. In response to determining that the mode indicator is satisfied, the mode indicator is actuated to determine whether the mode indicator is satisfied. The device is configured to notify the user of the change from the first mode to the second mode.

[0031] In one implementation, the controller operates the manipulator in a first mode to and allowing the tool to move relative to the target portion in at least one degree of freedom according to the constraint criteria. It is configured to do so.

[0032] In one implementation, the controller operates the manipulator in a second mode to and allowing the tool to move relative to the target portion in at least one degree of freedom according to the constraint criteria. It is configured to do so.

[0033] In one implementation, the controller further comprises: to maintain alignment of the tool with the target region according to a different third constraint criterion. In one implementation, the manipulator is configured to operate in a predetermined mode. The condition is further defined as a first predetermined condition. a second predetermined condition in which at least one of the plurality of system conditions is different from the first predetermined condition; In response to determining that the condition is satisfied, the operation of the manipulator is changed from the second mode to the first mode. The device is further configured to change to a mode of 3.

[0034] In one implementation, the first constraint criterion is a first constraint by which the movement of the tool is limited relative to the target site. In one implementation, the second constraint criterion is the number of degrees of freedom that the tool motion can have relative to the target region. In one implementation, the third constraint criterion includes a second number of degrees of freedom that are constrained by the tool's The third number of degrees of freedom in which movement is constrained relative to the target region. The degrees of freedom of the first number of degrees of freedom and one or more of the second number of degrees of freedom are different, and the controller Further, the manipulator may be operated to, in a first mode, perform a first number of movements based on the first number of degrees of freedom. Maintain alignment of the tool relative to the target site and, in a second mode, adjust the alignment based on a second number of degrees of freedom. to maintain alignment of the tool with respect to the target site, and in a third mode, based on a third number of degrees of freedom. The system is configured to maintain alignment of the tool relative to the target site based on the alignment.

[0035] In one implementation, the first constraint criterion further includes a first elasticity parameter. In one embodiment, the second constraint criterion further includes a second elasticity parameter. The third constraint criterion is one or more of the first elasticity parameter and the second elasticity parameter. In one implementation, the controller further comprises a third elasticity parameter different from Then, the manipulator is operated in a first mode based on a first number of degrees of freedom, and Maintaining alignment of the tool with respect to the target site based on the first elasticity parameter and controlling the second elasticity parameter. In the method, the target area is determined based on the second number of degrees of freedom and based on the second elasticity parameter. maintains the alignment of the tool to the third mode, based on a third number of degrees of freedom, and and configured to maintain alignment of the tool with the target site based on a third elasticity parameter. It has been done.

[0036] In one implementation, the third number of degrees of freedom is less than the first number of degrees of freedom, resulting in The controller must operate in the third mode with at least one more degree of freedom than in the first mode. , allowing movement of the tool relative to the target site. In one implementation, the third number of degrees of freedom is: The number of degrees of freedom is less than the second number, so that the controller, in the third mode, Allows movement of the tool relative to the target area with at least one more degree of freedom than mode 2 In one implementation, the first constraint criterion and the second constraint criterion each include at least one In one implementation, the first constraint criterion includes at least one positional degree of freedom and at least one directional degree of freedom. , the second constraint criterion, and the third constraint criterion each include at least one directional degree of freedom. In one implementation, the first constraint criterion is at least one more positional constraint than the third constraint criterion. In one implementation, the second constraint criterion is at least one more important than the third constraint criterion. In one implementation, the controller may select a second mode more frequently than the first mode. This allows for more flexible tool movement relative to the target site in some implementations. In this state, the controller may be configured to operate the target site more efficiently in the second mode than in the third mode. Allows for more flexible tool movement.

[0037] In one implementation, the first constraint criterion includes a first elasticity parameter, and the second constraint criterion includes a includes a second elasticity parameter, and the third constraint criterion is a function of the first elasticity parameter and a third elasticity parameter different from one or more of the first elasticity parameters, The troller further manipulates the manipulator to adjust the first elasticity parameter in the first mode. In a second mode, the tool maintains alignment with the target site based on the data. and maintaining alignment of the tool with the target site based on the force parameters. The third elasticity parameter is used to maintain alignment of the tool with the target site. It is composed of:

[0038] In one implementation, the sensing system indicates the forces occurring between the target site and the manipulator. at least one sensor configured to obtain measurements of at least one The force-indicating measurements obtained by the sensor are a function of at least one of the system conditions. and a controller for detecting a force detected by the at least one sensor as a first force. and switching from the first mode to the second mode, or vice versa, in response to determining that the predetermined condition is satisfied. , determining that the force detected by the at least one sensor satisfies a second predetermined condition. to change the behavior of the manipulator from the second mode to the third mode in response to In one implementation, the first predetermined condition is determined by at least one sensor. The second predetermined condition is defined by a first force detected by at least one sensor. The force is determined by a second force detected by the sensor, the second force being greater than the first force.

[0039] In one implementation, the patient tracker is adapted for attachment to the target site. In an implementation, the sensing system may include a navigation system configured to track the state of the patient tracker. In one implementation, the tracking state of the patient tracker can be one or defining at least one of a plurality of system conditions, wherein the tracking status of the patient tracker satisfies the predetermined condition; In response to determining that the condition is satisfied, the controller changes the operation of the manipulator from the first mode to the In one implementation, the controller is configured to change from the first mode to the second mode. Based on the tracking status received from the navigation system, the tracked movement of the tool is transmitted to the patient. In one implementation, the tracking of the tool is further configured to compare the tracking of the tool with the movement of the tracker. The tracked movements define at least one of one or more system conditions. In implementations, the predetermined condition may be a tracking condition of the tool corresponding to the tracked state of the patient tracker. The time is determined based on the movement.

[0040] In one implementation, the sensing system indicates the forces occurring between the target site and the manipulator. In one implementation, the device includes at least one sensor configured to obtain measurements. , the force-indicative measurements obtained by at least one sensor are transmitted to one or more systems. and a controller that determines at least one of the system conditions by at least one sensor. and switching from the first mode to the second mode in response to determining that the detected force satisfies a predetermined condition. The code is configured to change the behavior of the manipulator.

[0041] In one implementation, the controller further operates the manipulator in a first mode to and a force-indicating measurement obtained by at least one sensor increases toward a predetermined condition. As the pressure is increased, the force increases with increasing elasticity to resist movement of the tool relative to the target site. In one implementation, the tool is configured to receive the impactor assembly and Chassis shaped to allow limited movement of the impactor assembly relative to the The impactor assembly includes a guide with a channel for releasably securing the prosthesis. In one implementation, the manipulator has an interface for impacting the The assembly is received in the channel of the guide and the prosthesis is inserted into the impactor assembly. The guide is configured to support the guide along a trajectory relative to the target site while being fixed. In one implementation, the target site is further defined as an acetabular cup. At least one sensor is connected to an impactor for placing the prosthesis in the acetabular cup. The sensor is configured to detect a force resulting from the application of a force to the assembly. In the mounting configuration, the controller adjusts the torque applied to the acetabular cup based on the detected force. In one implementation, the device is further configured to estimate the torque applied to the acetabular cup. In response to the determination that the estimated torque satisfies a predetermined condition, the operation of the manipulator is controlled. The controller is further configured to change from the first mode to the second mode.

[0042] In one implementation, the sensors include at least a force torque transducer, a joint actuator voltage transducer, and a flow sensors, joint force sensors, joint torque sensors, and joint encoders Further defined as one or more.

[0043] In one implementation, the first constraint criterion is a first number by which the tool movement is constrained relative to the trajectory. In one implementation, the second constraint criterion is that the tool motion is constrained relative to the trajectory. In one implementation, the second number of degrees of freedom is greater than the first number of degrees of freedom. In one implementation, the controller, in the first mode, controls the first number of degrees of freedom. maintain alignment of the tool with respect to the trajectory based on a second number of degrees of freedom in the second mode; Based on this, the manipulator is manipulated to maintain alignment of the tool with the trajectory. It is further structured as follows:

[0044] In one implementation, the second number of degrees of freedom is less than the first number of degrees of freedom, resulting in The controller must operate in the second mode with at least one more degree of freedom than in the first mode. , allowing movement of the tool relative to the trajectory. In one implementation, the first constraint criterion is at least Both include one positional degree of freedom and at least one directional degree of freedom. The constraint criterion and the second constraint criterion each include at least one directional degree of freedom. In this embodiment, the first constraint criterion includes at least one more positional degree of freedom than the second constraint criterion. In one implementation, the first constraint criterion and the second constraint criterion have at least one common degree of freedom. Includes.

[0045] In one implementation, the first constraint criterion includes a first elasticity parameter, and the second constraint criterion includes a includes a second elasticity parameter that is different from the first elasticity parameter. The controller further operates the manipulator to generate a first elastic force in the first mode. maintains alignment of the tool with respect to the trajectory based on the stability parameter, and in the second mode, configured to maintain alignment of the tool with the trajectory based on the elasticity parameter of There are.

[0046] In one implementation, the controller may adjust the trajectory more in the second mode than in the first mode. In one implementation, the first elastic parameter The second elasticity parameter and the third elasticity parameter are respectively the elasticity of the tool relative to the trajectory in the common degree of freedom. associated with dynamic movement.

[0047] In one implementation, the controller further operates the manipulator in a first mode to , at least the force-indicating measurements obtained by the sensors increase toward a predetermined condition. As the tool moves, it becomes more resilient and is configured to resist movement of the tool relative to the track. There are.

[0048] In one implementation, the tool defines a tool center point and the controller controls the manipulator to Operate in a first mode and move the tool center point away from the trajectory according to a first constraint criterion. In one implementation, the controller controls the manipulator to Operate in a second mode to move the tool center point away from the trajectory according to a second constraint criterion. It is configured to enable

[0049] In one implementation, the mode indicator is coupled to the controller, and the controller The force-indicating measurements obtained by at least one sensor are used to determine the first model of the manipulator's movement. determining that a predetermined condition for communicating a change from the first mode to the second mode is met; In response to this, the mode indicator is configured to activate.

[0050] In one implementation, the controller operates the manipulator in a first mode to The tool is designed to move relative to the trajectory in at least one degree of freedom according to the constraint criteria. It is structured as follows:

[0051] In one implementation, the controller operates the manipulator in a second mode to The tool is designed to move relative to the trajectory in at least one degree of freedom according to the constraint criteria. It is structured as follows:

[0052] In one implementation, the controller further comprises: A third model is used to maintain the alignment of the tool with the trajectory according to a different third constraint criterion. In one implementation, the predetermined condition is , is further defined as the first predetermined condition. In one implementation, the controller and a second force measurement obtained by one sensor is different from a first predetermined condition. and in response to determining that the predetermined condition is satisfied, controlling the operation of the manipulator in a second mode. In one implementation, the first predetermined The condition is a first condition detected by measurements taken by at least one sensor. The second predetermined condition is defined by a force measurement obtained from at least one sensor. The force is determined by a second force detected by the value, the second force being greater than the first force. In one implementation, the first constraint criterion is a first number of constraints that the tool movement is constrained to relative to the trajectory. The second constraint criterion is a second number of degrees of freedom to which the tool motion is restricted relative to the trajectory. The third constraint criterion is the third constraint on the tool motion relative to the trajectory. The third number of degrees of freedom is one or more of the first number of degrees of freedom and the second number of degrees of freedom. Unlike the first mode, the controller also operates the manipulator to In the first mode, the tool maintains alignment with the trajectory based on the number of degrees of freedom. The third mode maintains the alignment of the tool with respect to the trajectory based on the number of degrees of freedom in the second mode. It is configured to maintain alignment of the tool with respect to the trajectory based on three degrees of freedom. .

[0053] In one implementation, the first constraint criteria further includes a first elasticity parameter, and the second constraint criteria further includes a second elasticity parameter. The constraint criterion further includes a second elasticity parameter, and the third constraint criterion is a constraint of the first elasticity parameter. and a third elasticity parameter different from one or more of the second elasticity parameters. and the controller further operates the manipulator to, in the first mode: Based on the first number of degrees of freedom and based on the first elasticity parameter, The second mode is based on a second number of degrees of freedom and a second elasticity. Maintain alignment of the tool with the trajectory based on the parameter, and in a third mode, a third number Based on the degrees of freedom and based on the third elasticity parameter, the alignment of the tool to the trajectory It is configured to maintain

[0054] In one implementation, the third number of degrees of freedom is less than the first number of degrees of freedom, resulting in The controller must operate in the third mode with at least one more degree of freedom than in the first mode. , allowing movement of the tool relative to the trajectory. In one implementation, the third number of degrees of freedom is As a result, the controller is able to control the second mode in the third mode. The tool allows movement of the tool relative to the trajectory with at least one more degree of freedom than the tool.

[0055] In one implementation, the first constraint criterion and the second constraint criterion each include at least one position. In one implementation, the first constraint criterion includes a positional degree of freedom and at least one directional degree of freedom. The second constraint criterion and the third constraint criterion each include at least one directional degree of freedom. In an implementation, the first constraint criterion has at least one more positional degree of freedom than the third constraint criterion. In one implementation, the second constraint criterion is at least one more than the third constraint criterion. In one implementation, the controller may be configured to operate the actuator in a more flexible manner in the second mode than in the first mode. In one implementation, the tool allows for more resilient movement relative to the track. The controller is more resilient to the trajectory in the second mode than in the third mode. Enables the movement of a tool.

[0056] In one implementation, the first constraint criterion includes a first elasticity parameter, and the second constraint criterion includes a includes a second elasticity parameter, and the third constraint criterion is a function of the first elasticity parameter and and a third elasticity parameter that is different from one or more of the first elasticity parameters. In the mounted mode, the controller further operates the manipulator to 1, maintaining the alignment of the tool to the trajectory based on the elasticity parameter, and in the second mode , based on the second elasticity parameter, maintaining the alignment of the tool with the trajectory, and the third mode The third elasticity parameter is used to maintain the alignment of the tool with the trajectory. It has been completed.

[0057] In one implementation, the patient tracker is adapted for attachment to the target site and is used for navigation. The navigation system is configured to track the state of the patient tracker, and the controller The patient tracker is coupled to the navigation system and receives It is further configured to define a trajectory based on the tracking state.

[0058] In one implementation, the tool receives an impactor assembly and impacts the guide. A gas pump with channels formed to allow limited movement of the pump assembly. the impactor assembly includes an interface for releasably securing the prosthesis. In one implementation, the manipulator supports the guide relative to the target site. It is configured to hold

[0059] In one implementation, the manipulator is configured to receive the impactor assembly in a channel of the guide. The prosthesis is inserted into the target site while it is secured to the impactor assembly. The target site is further defined as an acetabular cup. In one implementation, the at least one sensor is configured to: to obtain measurements indicative of the resulting force applied to the impactor assembly. In one implementation, the controller adjusts the acetabular cushion based on the detected force. In one implementation, the controller is further configured to estimate the torque being applied to the top of the controller. In response to determining that the estimated torque applied to the acetabular cup satisfies a predetermined condition, Instruct the controller to change the operation of the manipulator from the first mode to the second mode. Further structure.

[0060] In one implementation, the controller determines whether to generate a signal based on system conditions detected from a sensing system. and determining a parameter of the second constraint criterion.

[0061] In one implementation, the controller determines a second constraint based on the obtained measurements indicative of the force. A reference parameter is determined.

[0062] In one implementation, the controller determines a second constraint based on the evaluated tracked movement. A reference parameter is determined.

[0063] Any of the above implementations can be utilized in any of the above aspects. Any of the above embodiments may be used in whole or in part for any one or more of the above aspects. , can be combined.

[0064] Other features and advantages of the present disclosure will become more apparent after reading the following description taken in conjunction with the accompanying drawings. It is well understood and therefore easily understood. [Brief explanation of the drawings]

[0065] [Figure 1] FIG. 1 is a perspective view of a surgical system including a manipulator, a navigation system, and tools for engaging a target site, one of the tools shown having a powered surgical device for driving an energy applicator, and another of the tools shown having an impactor assembly coupled to the prosthesis and supported along a trajectory by a guide attached to the manipulator. [Figure 2] FIG. 2 is a block diagram of a control system for controlling the surgical system of FIG. 1. [Figure 3] FIG. 3 is a functional block diagram of a software program for the control system of FIG. 2. [Figure 4] 4 is an exemplary diagram of a target site realized as an acetabulum showing the output of a boundary generator of the software program of FIG. 3. [Figure 5] 5 is an exemplary diagram of the target site of FIG. 4 showing the output of the path generator of the software program of FIG. 3. [Figure 6] 2 is a diagram showing a target site and one of the tools of FIG. 1, illustrating the virtual constraints of the surgical system. [Figure 7] FIG. 3 is a block diagram of modules operable by the control system of FIG. 2. [Figure 8] 3 shows an example of constraint equations for the control system of FIG. 2. [Figure 9] 3 shows an example of a forward dynamics algorithm for performing a virtual simulation using the control system of FIG. 2. [Figure 10] 10 illustrates an exemplary series of steps for implementing the forward dynamics algorithm of FIG. 9. [Figure 11] 1 illustrates an exemplary series of steps performed by the control system of FIG. 2 to solve constraints, perform forward dynamics, and determine a commanded pose. [Figure 12] 2 is an exemplary schematic diagram of the tool of FIG. 1 shown supporting the energy applicator along an axis aligned with the trajectory of the target site and spaced from the target site. [Figure 13A] 13 is another exemplary schematic diagram of the tool, energy applicator, and target site of FIG. 12, with the energy applicator shown engaging the target site along a trajectory. [Figure 13B] 13B is another exemplary schematic diagram of the tool, energy applicator, and target site of FIG. 13A, with the energy applicator shown advancing along the trajectory and engaging deeper into the target site. [Figure 14A] FIG. 13C is another exemplary schematic diagram of the tool, energy applicator, and target site of FIG. 13B, shown with the energy applicator encountering resistance to rotation about an axis while engaged with the target site. [Figure 14B] FIG. 14B is another exemplary schematic diagram of the tool, energy applicator, and target site of FIG. 14A, where the energy applicator engages the target site offset relative to the trajectory in response to resistance to rotation shown in FIG. 14A, and the tool and energy applicator are shown positioned with an exaggerated offset relative to the trajectory indicating a runaway condition. [Figure 14C] FIG. 14B is another exemplary schematic diagram of the tool, energy applicator, and target site of FIG. 14B, with the tool moving with the energy applicator and the target site shown away from the support surface to illustrate a runaway condition when the manipulator of FIG. 1 is attempting to align the tool with the trajectory defined by the target site. [Figure 14D] FIG. 14D is another exemplary schematic diagram of the tool, energy applicator, and target site of FIG. 14C, with the tool further moved with the energy applicator and the target site shown moving away from the support surface to illustrate a runaway condition as the manipulator of FIG. 1 continues to attempt to align the tool with the trajectory defined by the target site. [Figure 15]FIG. 2 is a partial perspective view of a portion of the surgical system of FIG. 1 showing a tool including a guide and impactor assembly that supports a prosthesis away from a trajectory defined by a target site monitored by a navigation system via a tracker. [Figure 16A] FIG. 16 is a perspective view of the impactor assembly of FIG. 15 shown with the interface spaced apart from the prosthesis, with the shaft extending between the interface and the flange positioned adjacent to a handle extending between the flange and the head. [Figure 16B] FIG. 16B is an exploded perspective view of the impactor assembly of FIG. 16A. [Figure 17A] FIG. 16 is a perspective view of the guide of FIG. 15. [Figure 17B] 17B is a partially exploded perspective view of the guide of FIG. 17A shown with a body defining a channel. [Figure 18] 15-17B, in which the guide is shown defining a guide axis aligned with the trajectory of the target site, and the impactor assembly is shown attached to the prosthesis and spaced apart from both the target site and the guide. [Figure 19A] FIG. 19 is another exemplary schematic diagram of the tool, prosthesis, and target site of FIG. 18, showing the prosthesis and impactor assembly positioned adjacent to the target site, with the flange of the impactor assembly supported in the channel of the guide, and with an applied force acting on the guide. [Figure 19B] FIG. 19B is another exemplary schematic diagram of the tool, prosthesis, and target site of FIG. 19A, with the tool and prosthesis shown moved relative to the trajectory and target site in response to the applied force shown in FIG. 19A. [Figure 20A] FIG. 19 is another exemplary schematic diagram of the tool, prosthesis, and target site of FIG. 18, showing the prosthesis and impactor assembly positioned adjacent to the target site, with the flange of the impactor assembly supported in the channel of the guide, and with an applied force acting on the head of the impactor assembly substantially along the trajectory. [Figure 20B] FIG. 20B is another exemplary schematic diagram of the tool, prosthesis, and target site of FIG. 20A, with the prosthesis shown implanted at the target location along the trajectory in response to the applied force shown in FIG. 20A. [Figure 21A] FIG. 19 is another exemplary schematic diagram of the tool, prosthesis, and target site of FIG. 18, showing the prosthesis and impactor assembly positioned adjacent to the target site, the flange of the impactor assembly supported in the channel of the guide, and an applied force acting on the head of the impactor assembly transverse to the trajectory. [Figure 21B] FIG. 21B is another exemplary schematic diagram of the tool, prosthesis, and target site of FIG. 21A, where the prosthesis is implanted at the target site offset relative to the trajectory in response to the applied force shown in FIG. 20A, and the tool and prosthesis are shown positioned with an exaggerated offset relative to the trajectory illustrating a runaway condition. [Figure 21C] FIG. 21B is another exemplary schematic diagram of the tool, prosthesis, and target site of FIG. 21B, with the tool moving with the implanted prosthesis and the target site shown away from the support surface to illustrate a runaway condition when the manipulator of FIG. 1 is attempting to align the guide with the trajectory defined by the target site. [Figure 21D] FIG. 21C is another exemplary schematic diagram of the tool, prosthesis, and target site of FIG. 21C, where the tool has moved further with the implanted prosthesis and the target site is shown moving away from the support surface to illustrate a runaway condition as the manipulator of FIG. 1 attempts to keep the guide aligned with the trajectory defined by the target site. [Figure 22A] FIG. 17C is another partial perspective view of the guide, the impactor assembly supporting the prosthesis, and the target site of FIGS. 15-17B, showing the prosthesis positioned at the target site and spaced apart from the guide coupled to the manipulator. [Figure 22B]FIG. 22B is another partial perspective view of the guide, the impactor assembly supporting the prosthesis, and the target site of FIG. 22A, showing the guide coupled to the manipulator moved toward the track with the shaft of the impactor assembly positioned within the channel of the guide. [Figure 22C] FIG. 22C is another partial perspective view of the guide, the impactor assembly supporting the prosthesis, and the target site of FIG. 22B, showing the guide coupled to the manipulator moved along the track to engage the flange of the impactor assembly with the channel of the guide. [Figure 23] FIG. 22D is another partial perspective view of the guide, the impactor assembly supporting the prosthesis, and the target site of FIG. 22C, showing the guide coupled to the manipulator moved around an orbit with one rotational degree of freedom from the previous position depicted in the phantom. [Figure 24A] FIG. 22C is another partial perspective view of the guide, impactor assembly supporting the prosthesis, and target site of FIG. 22B, showing the guide coupled to the manipulator positioned along the track with the flange of the impactor assembly positioned to engage the channel of the guide, and an applied force acting on the head of the impactor assembly traversing the track. [Figure 24B] FIG. 24B is another partial perspective view of the guide, the impactor assembly supporting the prosthesis, and the target site of FIG. 24A, with the prosthesis partially implanted in the target site and displaced relative to the trajectory in response to the applied force shown in FIG. 24A, with the tool and prosthesis positioned with exaggerated displacement relative to the trajectory and relative to the previous positioning depicted in the phantom. [Figure 24C] FIG. 24B is another partial perspective view of the guide, the impactor assembly supporting the prosthesis, and the target site of FIG. 24B, with the prosthesis partially implanted in the target site and further displaced relative to the trajectory in response to the applied force shown in FIG. 24A, and the tool and prosthesis are shown positioned with a further exaggerated displacement relative to the trajectory. [Figure 25]FIG. 2 is a block diagram illustrating interactions between the sensing system, controller, and manipulator of FIG. 1 in accordance with an embodiment of the present disclosure. [Figure 26] Illustrates a runaway condition that occurs as a result of the bur being trapped between the virtual boundary and the bone at the target site. DETAILED DESCRIPTION OF THE INVENTION

[0066] Any one or more of the embodiments shown throughout the drawings are for illustrative purposes only. Components, structural features, and / or assemblies are removed, shown diagrammatically, and / or or phantom.

[0067] Referring now to FIG. 1, a robotic manipulator 102 supporting a tool 104 is shown. 1 shows a surgical system 100 that includes a surgical instrument. The surgical system 100 is configured to perform a surgical procedure on a patient, such as bone or soft tissue. It is useful for treating an anatomical volume or target site TS in the body B of a subject P. For this purpose, To this end, the manipulator 102 generally comprises a base 106, a robotic arm 108, and a The robot arm 108 is supported by the base 106. Moving and maintaining the position and / or orientation of the coupling 110 relative to the base 106 during use or otherwise configured to control the coupling 110. adapted to releasably secure a plurality of types of tools 104, which in turn generally support instruments 112 utilized in connection with various types of surgical procedures. In some embodiments, the instrument 112 may be positioned at or adjacent to the target site TS. An energy applicator 114 (e.g., a drill bit) used to deliver the treatment in contact with the Supports, drives, rotates, oscillates, and vibrates (such as taps, burrs, blades, saws, and reamers) configured to move and / or otherwise direct energy thereto. In some embodiments, the instrument 112 moves along a trajectory T maintained by the manipulator 102. The implantable component 116 (e.g., a catheter) is positioned relative to the target site TS along the Supports implants (such as caps, stems, screws, pins, rods, wires, anchors, prostheses, etc.) , may be configured to position, align, and / or guide.

[0068] In FIG. 1, patient P is shown with a target site TS that may or may not include a portion of the patient's hip joint and femur. However, various types of surgical procedures contemplated by the present disclosure, including partial or total knee or hip replacement Surgical procedures including but not limited to surgery, shoulder replacement surgery, spinal surgery, ankle surgery, etc. Surgical procedures include tissue removal or other forms of treatment (e.g., cutting, drilling, reaming, etc.). In some embodiments, therapies may include: (i.e., stimulating, clotting, wound healing, other in situ tissue treatments, etc.) The surgical system 100 may be unicompartmental, bicompartmental, or multicompartmental. implants, hip and knee implants, including total knee implants The material replaced by component 116 (also called the "implant") Some types of implantable components may be designed to be easily disconnected. Part 116 is "Prosthetic Implant and Method of No. 9,381,085 entitled "Synaptic Implantation," The disclosure of which is incorporated herein by reference in its entirety. However, the following description As will be appreciated, other configurations are contemplated and the surgical system 100 may be configured in several different ways. The manipulator 10 may be utilized in connection with a surgical procedure without departing from the scope of this disclosure. 2, the tool 104, the instrument 112, the energy applicator 114, and / or the implantable Various types, styles, and configurations of performance components 116 can be used. Additionally, the surgical system 100 and techniques disclosed herein may be used for surgical or non-surgical procedures. It may be used to perform certain other procedures or in industries where robotic systems are utilized. It may be used in industrial or other applications.

[0069] The manipulator 102 (also called a "surgical robot") moves the tool 104 to the target area. and moving the robot arm 108 relative to the base 106. Among other things, performing various types of surgical procedures with precise control over movements; and The tool 104, the instrument 112, the energy applicator 114, and / or the implantable component Assists the medical professional in positioning the medical component 116. The manipulator 102 generally comprises a base 106, a robotic arm 108, and a coupling The base 106 is fixed to a manipulator cart 118, and the robot Supports arm 108, which in turn controls the position of coupling 110 relative to base 106 during use. and / or configured to move, maintain, or otherwise control the orientation of the For purposes of this discussion, the robotic arm 108 shown in FIG. 1 is a representation of multiple robots arranged in a serial arm configuration. However, the manipulator 102 has a number of links 120 and joints J. Different configurations may be employed without departing from the scope of the present disclosure. For example, the manipulator 102 may have a parallel arm configuration, or any other suitable configuration. In some embodiments, two or more manipulators can be used in a multiple arm configuration. One exemplary configuration of the robotic arm 108 is the "S surgical Manipulator Capable of Controlli ng a Surgical Instrument in Multiple Mod No. 9,119,655, entitled "Methods for Producing and Printing Electronic Devices," the disclosure of which is incorporated herein by reference. The robot arm 108 and manipulator 1 Other parts of the O2 may be arranged in several different configurations without departing from the scope of this disclosure. It is possible.

[0070] In the example shown in FIG. 1, the manipulator 102 determines the position data of the joint J. In order to achieve this, a plurality of joint encoders 122 are provided at the joints J. Therefore, only one joint encoder 122 is labeled in FIG. The joint encoder 122 may be similarly depicted. In this case, the robot arm 108 has at least six degrees of freedom (D There are six joints J1, J2, J3, J4, J5, and J6 that perform the OF. However, the manipulator 102 may have any suitable number of degrees of freedom. The manipulator 102 may have a joint J and may have a redundant joint J. The input encoder 122 is not required, but instead or in addition, the motor of each joint J Furthermore, the manipulator 102 rotates by utilizing the motor encoders present on the It does not require a rigid joint, but instead or in addition, one or more prismatic joints may be used. Any suitable combination of joint types is possible. can be.

[0071] The surgical system 100 may include various types of trackers (e.g., optical, multiple degrees of freedom, inertial and / or ultrasonic sensing devices), navigation systems (e.g., machine Vision systems, charge-coupled device cameras, tracker sensors, surface scanners, and and / or rangefinder), anatomical computer models (e.g., magnetic resonance imaging of the patient's anatomy) Resonance imaging scans), data from previous surgical procedures and / or previously performed external Use of clinical techniques (e.g., data recorded during previous steps of a surgical procedure) and the manipulator 102, the robot arm 108, and the tool in a common coordinate system. 104, the instrument 112, the energy applicator 114, and / or the implantable component. 116, and the relative positions and / or positions of one or more parts of various parts of the patient's body B. or changes in orientation may be monitored, tracked, and / or determined. To this end, and as shown diagrammatically in FIG. 1, the surgical system 100 may be robotically controlled. system 126, navigation system 128, and tool control system 130. a control system 124 ( 124), which will be explained in more detail later. 102, the target site TS and other parts of the surgical system 100 can be manipulated via the manipulator 102. cooperate to facilitate positioning, movement, and / or actuation of the tool 104 relative to An exemplary control methodology is "Robotic System and Method for or Backdriving the Same,” U.S. Patent No. 10,327 ,849, the disclosure of which is incorporated herein by reference in its entirety. do.

[0072] The base 106, or another portion of the manipulator 102, generally 1. A fixed reference frame for other components of the surgical system 100. Generally, the origin of the manipulator coordinate system MNPL is a fixed point on the base 106. The base 106 is attached to a manipulator, such as one or more of the links 120. Alternatively, or in addition, the base 106, such as when the manipulator 102 is physically attached to a cart 118. , may be defined with respect to the manipulator cart 118. In some embodiments, the base 106 is defined at the intersection of the axis of joint J1 and the axis of joint J2. , joint J1 and joint J2 are actually moving components, but joint The intersection of the axes of J1 and J2 joints is a virtual fixed reference pose, and a fixed position and orientation reference and for the manipulator 102 and / or the manipulator cart 118. In some embodiments, the manipulator 102 is configured such that the base 106 For tool tips (e.g., end effectors) that are movable relative to the tool base, A handheld device defined by a base portion (e.g., a portion that is held by a user's free hand) In this embodiment, the base portion has a tracked reference coordinate system and the tool The tip has a tool tip coordinate system that is calculated relative to a reference coordinate system (e.g., a motor and / or via joint encoders and forward kinematics calculations). You can determine the pose of the tooltip, allowing you to control its movement to follow a path. An example of this type of handheld manipulator 102 is the "Surgical Instruments trument Including Housing, A Cutting Acc essory that Extends from the Housing and Actuators that Establish the Position f the Cutting Accessory Relative to the No. 9,707,043 entitled "Suitable for a Housing" which disclosure is incorporated herein by reference. , which are incorporated herein by reference in their entirety. The above are non-limiting illustrative examples, Other configurations are contemplated by this disclosure.

[0073] As shown schematically in FIG. 1, the robot control system 126 controls the manipulator The navigation system 128 includes a navigation controller 132. The tool control system 130 includes a tool controller 136. In the illustrated embodiment, the manipulator controller 132, the navigation controller 1 34 and the tool controller 136 are generally connected, for example, by a physical electrical connection (e.g., tethered wiring harness) and / or one or more types of wireless communication (e.g. For example, Wi-Fi networks, Bluetooth, wireless networks, communicate with each other (e.g., directly or indirectly) via a network (e.g., a smartphone, tablet, or other device) and / or a surgical The manipulator controller 13 is disposed in communication with the other components of the system 100. 2. The navigation controller 134 and / or the tool controller 136 Implemented as or with various arrangements of computers, processors, control units, etc. may be implemented as a single entity, may include separate components, or may be integrated (e.g., hardware, software, (shared software, inputs, outputs, etc.) Other configurations are possible.

[0074] manipulator controller 132, navigation controller 134, and / or Each of the tool controllers 136 includes a processor 138 (e.g., a central processing unit) and and / or other processors, memory 140, and / or storage (not shown) ), which, as will be explained in more detail below, may generally be implemented as a computer having The software is loaded into the processor 138. The processor 138 controls the manipulator 102, the navigation system, and the application system 128, or one or more programs for controlling the operation of tool 104; The processor 138 may include any type of processor, multiprocessor, or The manipulator controller may be a processor and / or a multi-core processing system. 132, navigation controller 134, and / or tool controller 136 Additionally or alternatively, one or more microcontrollers, field processors, Programmable gate arrays, systems on chips, discrete circuits, and / or Any other suitable hardware, software, or other device capable of performing the functions described herein. The term processor may refer to any embodiment. It is not intended to be limited to a single processor. , navigation system 128, and / or tool control system 130 may also include one or multiple output devices 144 (e.g., screens, displays, status indicators, etc.) and / or input devices 146 (e.g., push buttons, keyboard, mouse, etc.) devices, microphones, voice-activated devices, gesture-controlled devices, touchscreens, footpegs A user interface 142 (such as a dial, pendant, etc.) may be included, defined, or otherwise Other configurations are contemplated.

[0075] As noted above, one or more tools 104 (sometimes referred to as "end effectors") The manipulator 102 is releasably attached to a coupling 110 of the manipulator 102. The device 106 is movable relative to the patient P's anatomy and can interact with the patient P's anatomy in specific modes. The tool 104 is held by a user (e.g., a surgeon) The tool 104 may generally be released from the coupling 110 of the manipulator 102. The mount 148 is adapted to mount several In this embodiment, the energy applicator 114 is used to drive the attached energy applicator 114. A power generating assembly 152 (e.g., via a chuck, coupling, etc.) is connected to the power generating assembly 152 (e.g., powered surgical devices 150 using motors, actuators, gear trains, etc. The instrument 112 may be configured as a support for or otherwise defined by the instrument 112. One exemplary configuration of this type of manipulator 102, tool 104, and instrument 112 is shown below. The configuration is based on the previously referenced "Surgical Manipulator Capable of Controlling a Surgical Instrument in No. 9,119,655 entitled "Multiple Modes" The manipulator 102, tool 104, and / or instrument 112 may be configured in alternative configurations. In some embodiments, the tools 104 and / or instruments 106 may be arranged in a 12 is “End Effector of a Surgical Robotic and the like shown in U.S. Patent No. 9,566,121 entitled "Pulse Manipulator." The disclosure of which is incorporated herein by reference in its entirety. In this embodiment, the tool 104 and / or instrument 112 may be an "End Effector" s And Methods For Driving Tools Guided B Published U.S. patent application entitled "Surgical Robotic Systems" The disclosure of which is incorporated herein by reference. Other configurations are contemplated. In this application, and as described in more detail below, the instrument 112 may be a powered surgical device. It does not have to be configured as chair 150.

[0076] In some embodiments, the energy applicator 114 is configured to apply a It is designed to contact and remove tissue. For this purpose, the energy applicator The data 114 may, in some embodiments, include a bar 154. The bar 154 may be substantially The energy may be spherical and may include a center, a radius, and a diameter of the sphere. The tool applicator 114 can be a drill bit, a saw blade, an ultrasonic vibration tip, or the like. The tool 104, the instrument 112, and / or the energy applicator 114 may measure the circumference, Radius, diameter, width, length, volume, area, surface / plane, (along any one or more axes) ) any geometric feature, including but not limited to the range of the motion envelope, etc. The geometric features may include a geometric feature that is adapted to the tissue of the target site TS to perform the desired treatment. This may be taken into consideration when determining how to position the tool 104. In some of the embodiments, the tool may have a tool center point (TCP) or may not have a tool center point (TCP). Although the defining spherical bar 154 is described for convenience and ease of illustration, the tool 104 , instrument 112, and / or energy applicator 114 to any particular form. In some embodiments described herein, The central point TCP is not the energy applicator 114 but the instrument 112 or tool 104 Other configurations are contemplated.

[0077] In some implementations, such as when the instrument 112 is implemented as a powered surgical device 150, In an embodiment, the tool 104 uses the tool controller 136 to control the power generation assembly 1. 52 (e.g., a rotary motor) to control the movement of tool 104, and tool 1 The operation of the tool 104 can be facilitated, such as controlling the irrigation / aspiration of the tool 104. The manipulator controller 136 controls the manipulator controller 132 and / or the surgical system. In some embodiments, the manipulator may communicate with other components of the system. The controller 132 and / or the tool controller 136 control the manipulator 102 and / or may be housed on a manipulator cart 118. In some embodiments, the tool Components of tool controller 136 may be housed in tool 104. Other configurations are contemplated. The tool control system 130 may also be formed as part of the tool 104 and / or or the surgical system 100 and / or the control system 124 (e.g., a robotic control system may be implemented by other parts of the navigation system 126 and / or navigation system 128 , a user with one or more output devices 144 and / or input devices 146 interface 142. Other configurations are contemplated.

[0078] The manipulator controller 132 may be configured to calculate the coordinate system, such as the manipulator coordinate system MNPL. With respect to the state (position and / or orientation) of the tool 104 (e.g., tool center point TCP) The manipulator controller 132 controls the (linear or angular) movement of the tool 104. ) velocity, acceleration, or other derivatives of motion can be controlled. The central point TCP is a predetermined reference point defined by the energy applicator 114. However, as noted above, some other components of the tool 104 and / or instrument 112 may In some embodiments, a tool center point TCP can be defined. The tool center point TCP has a known pose relative to another coordinate system. The error may be static or may be calculated. The shape of the energy applicator 114 is known in the TCP coordinate system of the tool center point. Only one tool center point TCP is tracked. As such, the energy application supported or defined by the implement 112 of the tool 104 The tool center point TCP can be located at the spherical center of the bar 154 of the tool 114. Depending on the configuration of the applicator 114, instrument 112, tool 104, etc., the It is possible.

[0079] The manipulator 102 may include joint encoders 122 (and / or motors as described above). encoder), or any other non-encoder position detection method to determine the tool center The manipulator 102 can determine the pose of the point TCP. Using the joint J measurement, the tool center point TCP pose can be determined, and / or Alternatively, various techniques can be used to measure the tool center point TCP pose directly. The control of the tool 104 is not limited to a center point. For example, any suitable primitive, A brush, etc. may be used to represent the tool 104. Other configurations are contemplated.

[0080] With continued reference to FIG. 1, as noted above, the surgical system 100 includes, among other things, a tool 104 to track, monitor, detect, or otherwise sense the movement of various objects. The navigation system 128 is configured to: tracker, etc.), and a part of the patient's body B (e.g., at or near the target site TS). Also includes a pointer 156 used to register adjacent bones or other anatomical structures. For this purpose, the navigation system 128 is configured to calculate the coordinate system in the localizer coordinate system LCLZ. a localizer 1 configured to sense the position and / or orientation of the tracker 160; 58. The navigation controller 134 communicates with the localizer 158. Each detected object within the field of view of the localizer 158 in the localizer coordinate system LCLZ is Collect position and / or orientation data for tracker 160.

[0081] The localizer 158 senses the positions and / or orientations of the plurality of trackers 160 and It is possible to track multiple corresponding objects in the localizer coordinate system LCLZ. For example, As shown in FIG. 1, the tracker 160 is connected to the pointer 156. Tracker 160P, manipulator coupled to base 106 of manipulator 102 Tracker 160M, one or more tool trackers coupled to a portion of tool 104 - 160G, 160I, a first patient tracker coupled to a portion of the anatomy of patient P 160A, and a second patient tracker 16 coupled to another portion of the patient P's anatomy. 0B, as well as additional patient trackers, additional medical and / or surgical tools, and instruments It may include a tracker.

[0082] In some embodiments, one or more tool trackers, as shown in FIG. 160G, 160I each represent a different part of the tool 104, e.g., a part that moves relative to each other. and / or a portion that may be configured to secure the manipulator 102 to the base 106. The manipulator is securely attached to the Tracker 160M. As a non-limiting example, and as described in more detail below, the first tool The racker 160G moves simultaneously with the coupling 110 via the manipulator 102. and a second The tool tracker 160I may be configured to move the mount 148 and / or the tracker 160I in one or more degrees of freedom. The coupling 110 may be coupled to different portions of the tool 104 that move relative to the coupling 110 . The first tool tracker 160G and the second tool tracker 160I shown in FIG. , the relative positions and / or orientations of different parts of the tool 104 via the localizer 158 Although this may be used by the navigation system 128 to easily determine Certain embodiments may make this determination in other ways (e.g., using one or more sensors). It should be noted that other configurations are contemplated by this disclosure and the tracker -160, sensors, and predetermined geometric relationships can be used to Track objects or otherwise associate those objects with the objects being tracked. Cut.

[0083] With continued reference to FIG. 1, a first patient tracker 160A may be configured to track a target site TS (e.g., , pelvis near the acetabulum) or adjacent to it. The second patient tracker 160B is firmly attached to another bone (e.g., to a portion of the femur). Although not shown in detail, the patient trackers 160A, 160B are threaded. Several different bones within the patient's body B are attached to the bones in various ways, such as by ligation, clamping, or other techniques. Similarly, the first tool tracker 160G and / or the second tool tracker 160G may be coupled to The tool tracker 160I can be fixed to the part of the tool 104 in various ways, such as by integration during manufacturing or by releasable attachment before or during a surgical procedure. It can be fixed in various ways, such as by integration during manufacturing or by releasable attachment before or during a surgical procedure. Various trackers 160 can be firmly attached, flexibly connected (optical fiber), or not physically connected at all (ultrasonic) to different types of tracked objects (e.g., individual bones, tools, pointers, etc.) as long as there are appropriate (e.g., supplementary) methods to determine the relationship (e.g., measurement) of each tracker 160 to the associated object or anatomical structure. For example, as long as there are appropriate (e.g., supplementary) methods to determine the relationship (e.g., measurement) of each tracker 160 to the associated object or anatomical structure, the tracker 160 can be firmly fixed, flexibly connected (optical fiber), or not physically connected at all (ultrasonic). The position and / or orientation of the tracker 160 relative to the object or anatomical structure to which the tracker 160 is attached can be determined by using known alignment techniques. For example, determining the pose of the patient trackers 160A, 160B relative to the part of the patient's body B to which they are attached can be achieved by various forms of point - based alignment, such as where the distal tip of the pointer 156 is used to engage (e.g., touch a specific part of a bone) with a specific anatomical landmark, or where the localizer 158 engages with several parts of a bone for surface - based alignment when monitoring the position and orientation of the pointer tracker 160P.

[0084] Then, using conventional alignment techniques, the poses of the patient trackers 160A, 160B can be correlated to the patient's anatomical structures (e.g., each of the femur and the acetabulum). The position and / or orientation of the tracker 160 relative to the object or anatomical structure to which the tracker 160 is attached can be determined by using known alignment techniques. For example, determining the pose of the patient trackers 160A, 160B relative to the part of the patient's body B to which they are attached can be achieved by various forms of point - based alignment, such as where the distal tip of the pointer 156 is used to engage (e.g., touch a specific part of a bone) with a specific anatomical landmark, or where the localizer 158 engages with several parts of a bone for surface - based alignment when monitoring the position and orientation of the pointer tracker 160P. The position and / or orientation of the tracker 160 relative to the object or anatomical structure to which the tracker 160 is attached can be determined by using known alignment techniques. For example, determining the pose of the patient trackers 160A, 160B relative to the part of the patient's body B to which they are attached can be achieved by various forms of point - based alignment, such as where the distal tip of the pointer 156 is used to engage (e.g., touch a specific part of a bone) with a specific anatomical landmark, or where the localizer 158 engages with several parts of a bone for surface - based alignment when monitoring the position and orientation of the pointer tracker 160P. Then, using conventional alignment techniques, the poses of the patient trackers 160A, 160B can be correlated to the patient's anatomical structures (e.g., each of the femur and the acetabulum). The position and / or orientation of the tracker 160 relative to the object or anatomical structure to which the tracker 160 is attached can be determined by using known alignment techniques. For example, determining the pose of the patient trackers 160A, 160B relative to the part of the patient's body B to which they are attached can be achieved by various forms of point - based alignment, such as where the distal tip of the pointer 156 is used to engage (e.g., touch a specific part of a bone) with a specific anatomical landmark, or where the localizer 158 engages with several parts of a bone for surface - based alignment when monitoring the position and orientation of the pointer tracker 160P. Then, using conventional alignment techniques, the poses of the patient trackers 160A, 160B can be correlated to the patient's anatomical structures (e.g., each of the femur and the acetabulum). The position and / or orientation of the tracker 160 relative to the object or anatomical structure to which the tracker 160 is attached can be determined by using known alignment techniques. For example, determining the pose of the patient trackers 160A, 160B relative to the part of the patient's body B to which they are attached can be achieved by various forms of point - based alignment, such as where the distal tip of the pointer 156 is used to engage (e.g., touch a specific part of a bone) with a specific anatomical landmark, or where the localizer 158 engages with several parts of a bone for surface - based alignment when monitoring the position and orientation of the pointer tracker 160P.

[0085] Also, a tactile sensor (not shown) is attached to the bone to determine the shape of the bone to which the clamp is attached. Other methods, such as using patient trackers 160A, 160B with mechanical clamps, include: The bone shape is then compared to the 3D model of the bone for alignment. The tactile sensor and the master on the patient tracker 160A, 160B can be matched to the The known relationship between the vehicle 162 and the vehicle is input to the navigation controller 134. , otherwise may be known (e.g., stored in memory 140). Determining the location of the marker 162 relative to the patient's anatomy based on known relationships Position and / or orientation data may be stored in the localizer coordinate system LCLZ or another suitable coordinate system. To determine the coordinates of each tracker 160 in the appropriate coordinate system, several different alignments are performed. collected by the navigation controller 134 using navigation technology, These coordinates may be determined or otherwise processed as described in more detail below. In addition, the manipulator 102 may be used to facilitate articulation and / or to assist the surgeon in performing a surgical procedure. A control system 126, such as a robot control system 126, may be used to assist in performing the operation. 4 and transmitted to other parts of the

[0086] In the exemplary embodiment shown herein, the manipulator controller 132 and tool The wheel controller 136 is operably attached to the base 106 of the manipulator 102. The navigation controller 134 and the localizer 158 are The mobile cart 164 is supported by a base 106 of the mobile cart 164. The Lucart 164 may also be used to provide a diagnostic tool by displaying information to the surgeon or another user, and / or or by receiving information from a surgeon or another user, To facilitate operation, a user interface 142 may be supported. Although shown as part of the navigation system 128 in the exemplary embodiment shown, The user interface 142 may be connected to the robot control system 126 and / or the tool control system. forming part of or otherwise in communication with other parts of the control system 124, such as system 130 To this end, the user interface 142 provides a navigation The motion controller 134, the manipulator controller 132, and / or the tool controller may be positioned in communication with the roller 136, as well as one or more output devices 144 (e.g. may include a monitor, indicator, display screen, etc., to allow a surgeon or other user (e.g., images, video, data, graphics, navigable menus, etc.), and One or more input devices 146 (e.g., physical or virtual input controls, buttons, touchscreens, touch screen, keyboard, mouse, gesture or voice-based input devices) One type of navigation system 128 of this type uses The mobile cart 164 and user interface 142 of the "Surgery S No. 7,725,162, entitled "System," the disclosure of which is incorporated herein by reference. , which is incorporated herein by reference in its entirety.

[0087] The mobile cart 164 and the base 106 of the manipulator 102 may be The surgical system 100 may be positioned relative to the patient's body B, so that one or more of the surgical systems 100 may be positioned relative to the patient's body B. The numerical portion generally represents the coordinates of each tracker 160 as sensed via the localizer 158. from the localizer coordinate system LCLZ to the manipulator coordinate system MNPL (or other coordinate systems) system), or vice versa, and the articulation of the manipulator 102 is , common coordinate systems (e.g., manipulator coordinate system MNPL, localizer coordinate system LCLZ) The relative position and / or orientation of a particular tracker 160 within a coordinate system (e.g., a coordinate system, a coordinate system, or another common coordinate system) can be calculated. The coordinates in the localizer coordinate system LCLZ may be based at least in part on various to coordinates in the manipulator coordinate system MNPL (or other coordinate systems) using a suitable transformation method. An example of a conversion or transformation of data between coordinate systems is the "Installation of Anatomical Data Sets" No. 8,675,939, the disclosure of which is incorporated herein by reference in its entirety. INCORPORATED INTO THE SPECIFICATION.

[0088] In the illustrated embodiment, the localizer 158 is an optical localizer and may include one or more A camera unit 166 with multiple optical sensors 168 and, in some embodiments, a video The localizer 158 also includes a navigation controller 13. 4 or otherwise forms part of the navigation system 128. The navigation system 128 may include a camera unit. The optical sensor 168 of the unit 166 is used to measure the tracker in the localizer coordinate system LCLZ. In the exemplary embodiment shown herein, , tracker 160 are each sensed by optical sensor 168 of camera unit 166 This type of navigation uses multiple markers 162 (see FIG. 2) that can be An example of a system 128 is "Navigation System Including Optical and Non-Optical Sensors” No. 9,008,757, the disclosure of which is incorporated herein by reference in its entirety. In some embodiments, the markers 162 are integrated into the localizer 158. Active markers (e.g., light-emitting diodes "LEDs") that emit light that can be sensed by the user. In some embodiments, the tracker 160 is connected to the localizer 158 or another Use of passive markers (e.g., reflectors) that reflect light emitted from a light source One embodiment of a navigation system 128 is shown throughout the drawings. Navigation system 128 may have any suitable configuration for monitoring tracker 160. and may be of various types and configurations as will be understood from the following description. For example, the navigation system 128 may include multiple local navigation systems of the same or different types. The device may include a riser 158 and / or a tracker 160.

[0089] In some embodiments, the navigation system 128 and / or the localizer 1 58 is radio frequency (RF) based. For example, the navigation system 128 The navigation controller 134 and / or another computing device The tracker 160 may include an RF transceiver coupled to a May include an RF emitter or transponder, which may be passive or active The RF transceiver transmits an RF tracking signal and the RF emitter The data is used to communicate (or interpret) the tracked state to the navigation controller 134. The RF signal may be of any suitable frequency. The RF transceiver can be used in any suitable location to effectively use RF signals to track objects. Furthermore, RF-based navigation systems can be implemented. The configuration is shown in the active marker-based navigation system 128 may have a different structural configuration.

[0090] In some embodiments, the navigation system 128 and / or the localizer 1 58 is electromagnetic (EM) based. For example, the navigation system 128 application controller 134 and / or another computing device, controller The tracker 160 may include an EM transceiver coupled to a Attached EM components (e.g., various types of magnetic trackers, electromagnetic trackers) , inductive trackers, etc.), which may be passive or actively energized. The EM transceiver generates an EM field and transmits the EM component. The tracked state is communicated (or interpreted) to the navigation controller 134. The navigation controller 134 responds with an EM signal so that the navigation controller 134 can The M signal can be analyzed and the relative state can be related to it. Again, this is an EM-based The embodiment of the navigation system is based on the active marker system shown herein. The navigation system 128 may have a different structural configuration than the navigation system 128.

[0091] In some embodiments, the navigation system 128 and / or the localizer 1 58 fixes the tracker 160 to the object to determine position data associated therewith. may be based on one or more types of imaging systems that do not necessarily require For example, ultrasound-based imaging systems can capture ultrasound images (e.g., tracked objects) Certain known structural features of the object, markers or stickers fixed to the tracked object may be provided to facilitate acquisition of tracked state (e.g., position, orientation, etc.) ) is transmitted to the navigation controller 134 based on the ultrasound image (or Ultrasound images can be three-dimensional, two-dimensional, or a combination of both. To determine the tracked state, the navigation controller 134 may The ultrasound image can be processed in near real time. The camera unit 166 may have a different configuration than the camera unit 166 shown in FIG. and radiopaque markers (e.g., known structures attached to the tracked object). Fluoroscopy-based to facilitate the acquisition of X-ray images of objects (stickers, tags, etc.) The imaging system can provide a navigation system based on X-ray images, and the tracked state can be The navigation controller 134 then transmits the navigation information to the navigation controller 134 (or interprets it). The image controller 134 may be configured to monitor the x-ray images in near real time to determine the tracked state. Similarly, other types of optically based imaging systems can be provided. to identify a specific known object (e.g., a tracked object or its structural components or specific based on a comparison with a virtual representation of the tracked feature) and / or markers (e.g., Acquisition of digital images, videos, etc. of attached stickers, tags, etc. (e.g., via a charge-coupled device (CCD) sensor, such as a video camera 170 The tracked state can be transmitted to the navigation controller 134 based on the digital image. The navigation controller 134 communicates the navigation to (or is interpreted by) , digital images can be processed in near real time to determine the tracked state. can.

[0092] Therefore, various types of imaging systems, including multiple imaging systems of the same or different types, can be used. The imaging system of the present invention may be combined with a navigation system without departing from the scope of this disclosure. The navigation system 128 and / or The localizer 158 may include any other suitable component or components not specifically described herein. For example, the navigation system 128 may have an inertial tracking only or a tracking Any combination of technologies may be utilized, and may additionally or alternatively include fiber optic based This can include tracking of the source, machine vision tracking, etc. Furthermore, the navigation system shown in Figure 1 Any of the techniques, methods, and / or components related to the navigation system 128 can be implemented in several different ways, and other configurations are contemplated by this disclosure. do.

[0093] In some embodiments, the surgical system 100 determines the relative positions and The virtual representation of the surgical system 100 can be displayed to a surgeon or other user of the surgical system 100, e.g., The patient's body B, T, and Images and / or anatomy of the tool 104, instrument 112, energy applicator 114, etc. The manipulator controller 132 can display a graphical representation of the structure. and / or the navigation controller 134 may also include a user interface 142 to allow a surgeon or other user to interact with the robotic control system 126. Display instructions (e.g., using a graphical user interface (GUI)) , or request information to facilitate articulation of the manipulator 102. The following configurations are contemplated.

[0094] As described above, the localizer 158 tracks the trackers 160 and takes Determine the respective states of the tracker 160 corresponding to the respective states of the attached object. The localizer 158 performs known triangulation techniques to locate the tracker 160 and associated The localizer 158 can determine the state of the object being tracked by the tracker 160. In some embodiments, the navigation controller 134 The motion controller 134 determines the state of the tracker 160 and controls the manipulator control. As used herein, the state of an object includes the state of the object being tracked. Define the position and / or orientation of an object, or the equivalent / derivative of the position and / or orientation For example, a state may be the pose of an object. The velocity data may include linear velocity data, and / or angular velocity data, etc. Other configurations are contemplated. .

[0095] Referring to FIG. 2, the surgical system 100 generally includes a control system 124. The system 124 includes, among other components, a manipulator controller 132, a navigation system the robot controller 134, the tool controller 136, and / or the robots described above. control system 126, navigation system 128, and / or tool control system The control system 124 may include or be defined as a control unit 130. The software module may also include one or more software modules. The controller includes a manipulator controller 132, a navigation controller 134, and a tool controller 136, or any combination thereof, which controls the surgical system 100. Operate to process data that is used to facilitate or otherwise assist the management of It may be part of one or more programs that are part of a software program and / or module. The controller may include one or more processors in one or more of the controllers 136, 132, 134. The manipulator controller 132, the navigation controller 138, Non-transient memory on the roller 134, the tool controller 136, or a combination thereof. The computer readable instructions stored on the library 140 are included.

[0096] The memory 140 may be any suitable memory, such as a random access memory (RAM), a non-volatile memory, or the like. It can be configured as appropriate and can be stored locally or at a remote location (e.g., database, server, etc.). ) and may further include software for displaying and / or communicating with the user. The software module may form part of a module or program, and the manipulator controller 132, navigation controller 134, tool controller 136, or any combination thereof. may use any user interface to communicate with the software modules and / or programs. interface 142 (e.g., a user interface for the navigation system 128 shown in FIG. 1) Any input devices 146 and / or output devices 144 of the interface 142 The control system 124 also includes a user interface 142 ( For example, a graphical user interface (GUI) or a manipulator control controller 132, navigation controller 134, and / or tool controller 13 6 (e.g., portable electronic devices such as tablet computers) on each device It may include other software or modules that can be executed. Other configurations are contemplated.

[0097] The control system 124 provides inputs, outputs, and other information suitable for carrying out the functions and methods described herein. The surgical system 100 may include any suitable configuration of force and processing devices. Manipulator controller 132, navigation controller 134, or tool controller 136, or any combination thereof. It may include only some of the controllers or additional controllers, any of which are described above. The controllers 132, 134, and 136 may form part of the control system 124. ,via a wired bus or communication network, or via wireless communication, as shown in Figure 2. or in other ways. The control system 124 may communicate with one or more Microcontrollers, Field Programmable Gate Arrays, Systems on Chips, Discrete circuits, sensors, displays, user interfaces, indicators, and and / or other suitable hardware capable of performing the functions described herein. It may include software or firmware. Other configurations are contemplated.

[0098] Referring to FIG. 3, in some embodiments, the control system 124 uses The software may include a boundary generator 172. As shown in FIG. 2 generates a virtual boundary 174 for restricting the movement and / or operation of the tool 104 A virtual boundary 174 is a software program or module. or may be three-dimensional and may represent points, lines, axes, orbits, planes, or other objects containing complex geometric shapes. In some embodiments, the virtual boundary 174 may be represented by a triangle mesh. Such a virtual boundary 174 is sometimes called a virtual object. The virtual boundary 174 may be defined relative to an anatomical model AM, such as a three-dimensional bone model. The anatomical model AM is aligned to the anatomy of the patient P through registration or other processes. Based on the anatomical model AM to be mapped, the actual anatomy of the patient P is related In the example of FIG. 4, the imaginary boundary 174 is the entry point that provides access to the acetabulum. The acetabulum includes a generally spherical mesh that substantially surrounds the acetabulum with openings (e.g., apertures). The mouth portion is funnel-shaped or cone-shaped. In this exemplary embodiment, the imaginary boundary 174 is Associated with a 3D model of the acetabulum.

[0099] The anatomical model AM and associated virtual boundary 174 may be tracked by one or more patient trackers. 160A, 160B. Therefore, the anatomical model AM (and the patient a virtual boundary 17 fixed to the relevant real anatomical structures of the subject P and the anatomical model AM 4 can be tracked by patient trackers 160A, 160B. 4 is implant-specific (e.g., size, shape, and body of the implantable component 116) product, etc.) and / or patient-specific (e.g., based on the anatomy of patient P) The virtual boundary 174 may be defined preoperatively, intraoperatively, or a combination thereof. In other words, the virtual boundary 174 is the boundary that is created when the surgical procedure begins. may be administered before the procedure, during the surgical procedure (including during tissue removal), or a combination thereof. In any event, the control system 124 stores / retrieves the virtual boundary 174 in / from the memory 140. Retrieving the virtual boundary 174 from the memory 140; creating the virtual boundary 174 before surgery. The virtual boundary 174 is obtained by, for example, creating the virtual boundary 174 during surgery.

[0100] The manipulator controller 132 and / or the navigation controller 134 , the state of the tool 104 relative to the virtual boundary 174 can be tracked. In this configuration, the state of the tool center point TCP is determined by the desired alignment of the tool 104 with respect to the virtual boundary 174. Virtual simulations are performed to ensure that the objects remain in position (e.g., are not moved beyond them). The virtual boundary 1 is used for the purpose of determining the haptic forces applied to the virtual rigid-body VRB model through the VS. The results of the virtual simulation VS are measured against the manipulator 102. The control system 124 (e.g., the manipulators of the robot control system 126) The controller 132 controls the physical handpiece to respond in the presence of a physical boundary / barrier. The manipulator 102 is controlled / positioned to emulate the way in which the boundary generation The boundary generator 172 may be implemented in the manipulator controller 132. Alternatively, the boundary generator 172 may be a navigation controller 134 or other part of the control system 124. It may be implemented in any other component. Other configurations are contemplated.

[0101] 3 and 5, the path generator 176 is implemented by the control system 124. In some embodiments, the method is a separate software program or module that may be installed in the The path generator 176 is implemented by the manipulator controller 132. The generator 176 generates a tool path TP for the tool 104 to traverse. For example, A section of the patient's anatomy at the target site TS is removed to define the implantable component. The tool path TP may contain multiple path segments PS. A path segment PS may consist of a straight line segment or a single path segment PS. It can be a curved segment, a curved segment, a combination of both, etc. The toolpath TP is Toolpaths TP can also be specified for implant-specific (e.g. For example, the implantable component 116 may be defined based on its size, shape, volume, etc. ), and / or patient-specific (e.g., defined based on the anatomy of patient P). Other configurations are contemplated.

[0102] In some embodiments described herein, the tool path TP is adjacent to the target part TS. However, in some embodiments, the tool path TP can be used for treatments other than tissue removal. Examples include milling paths MP. The term "milling path" generally refers to the indicates the path of the tool 104 near the target site TS for milling, Requiring operational milling of the entire anatomical structure for the entire duration of the pass. For example, the milling path MP indicates that the tool 104 is milling It may include sections or segments that transition from one location to another without any transitions. Additionally, other forms of tissue removal along the milling path MP, such as tissue ablation, may be used. The milling path MP can be created preoperatively, intraoperatively, or a combination of both. In other words, the milling path MP can be defined before the surgical procedure begins. The lesion may be defined during surgery (including during tissue removal), or a combination thereof. In any case, the control system 124 stores the milling path MP in the memory 140 / memory 141. 40, and obtains the milling path MP from memory 140. By creating a milling path MP during the operation, Obtain the ring path MP. The milling path MP can be of any suitable shape, such as a circle, a spiral, May have a combination of shapes such as bottle opener-shaped, linear, curved, or a combination thereof Other configurations are contemplated.

[0103] One system and method for generating a virtual boundary 174 and / or a milling path MP An example is the previously referenced "Surgical Manipulator Capable of Controlling a Surgical Instrument in No. 9,119,655 entitled "Multiple Modes" Further examples are provided in the Haptic Guidance System and U.S. Patent No. 8,010,180 entitled "Guidance Method" and U.S. Patent No. 8,010,180 entitled "Guidance Method" System and Method for Surgical Procedures with Improved Feedback,” U.S. Patent No. 7,831, 292, the disclosures of each of which are incorporated herein by reference in their entirety. In some embodiments, the virtual boundary 174 and / or the milling path MP The manipulator controller 132, the navigation controller 134, or the external The virtual environment can then be generated offline, rather than in a separate component of the medical system 100. The boundary 174 and / or the milling path MP are then processed by the manipulator controller 132 at runtime. It can be utilized by

[0104] Returning to FIG. 3, to perform the motion control 178, the manipulator controller 132 and / or other software programs that may be executed on the navigation controller 134. The motion control 178 controls the next command of the tool 104. It is the process of computing data indicative of a given position and / or orientation (e.g., pose). Although only the position or orientation of the control center point TCP may be output from the motion control 178, The position and orientation of the tool center point TCP may also be output from the motion control 178. In some embodiments, a boundary generator 172, a path generator 176, and a sensor 180 (e.g., The output from the 6 DOF force / torque transducer is used to determine the next command position / or The motion control 178 may be provided as an input to determine the orientation. To determine the commanded pause CP, one Or these inputs can be processed together with multiple virtual constraints VC.

[0105] With continued reference to FIG. 3, the manipulator controller 132 and / or navigation Another software program or module that may be executed by application controller 134 is , is shown to perform motion control 182. One aspect of motion control 182 is the The motion control 182 is the control of the actuator 102. The motion control 182 receives the next commanded position from the motion control 178. Based on these data, the motion control 182 Determine the next position of the joint angle of joint J of the robot arm 108 of the manipulator 102 (e.g., via inverse kinematics and Jacobian calculations), so that the manipulator 10 2 moves the tool as commanded by the motion control 178 (e.g., at a commanded pause CP). In other words, the motion control 182 can be arranged in a Cartesian space. The commanded pose CP that can be set is processed into the joint angles of the manipulator 102, and As a result, the manipulator controller 132 adjusts the commanded pose CP of the tool 104. Move joint J of manipulator 102 to the corresponding commanded joint angle In some embodiments, the joint motors can be commanded accordingly. The motion control 182 adjusts the joint angle of each joint J of the robot arm 108. The joint motor drives the associated joint J to the commanded joint angle. To ensure this as closely as possible, the torque output by each joint motor is continuously Adjust.

[0106] The boundary generator 172, path generator 176, motion control 178, and motion control 182 are software It may be a subset (e.g., a module) of the software program 184. Each may operate separately and / or independently, or in any combination thereof. The term "software program" is used herein to refer to a software program. The specification describes a computer configured to perform the various functions of the described technical solution. For simplicity, "software program" is used to describe executable instructions. The term "ram" refers to at least the boundary generator 172, the path generator 176, the motion control 177, and the 8, and / or motion control 182. The software program 184 controls the manipulator controller 132, the navigation system, and the 134, or any combination thereof, Or it may be performed by the control system 124 in any suitable manner.

[0107] In some embodiments, the clinical application 186 facilitates user interaction. and preoperative planning, implant placement, alignment, visualization of bone preparation, and implant fit. It may be provided to coordinate surgical workflow, including post-operative evaluation, etc. Clinical Applications The output device 144 (e.g., a display, screen, monitor, etc.) ), to receive input data from the input device 146, or or otherwise configured to interact with the user interface 142, It may include or form part of a clinical user interface (GUI). The application 186 may run on its own separate processor or may be Navigation controller 134, manipulator controller 132, and / or tool 136, or any other suitable part of the control system 124. It can be done.

[0108] In some embodiments, the clinical application 186 may be configured to determine whether the placement of the implant is appropriate for the user. After being set by the user, the boundary generator 172 and / or path generator 176 are and then routed by boundary generator 172 and / or path generator 176 for execution. The virtual boundary 174 and / or tool path TP returned by the manipulator controller 132, where the manipulator controller 132 transmits the The manipulator controller 132 executes the tool path TP so as to perform machining. When starting or restarting and smoothly returning to the generated toolpath TP, a specific segment You can create more segments (e.g., retract segments). The roller 132 also processes the virtual boundary 174 to: A corresponding virtual constraint VC can be generated.

[0109] The surgical system 100 is similar to the previously referenced "Surgical Manipulation r Capable of Controlling a Surgical Inst U.S. Patent No. 9,119 entitled "Infrared Radiation in Multiple Modes" ,655, in which the user manually directs The manipulator 102 then moves the tool 104 and its energy applicator to the surgical site. 114. The user (e.g., surgeon) physically contacts the tool 104. to cause movement of the tool 104 in manual mode. The actuator 102 is attached to the tool 104 by a user to position the tool 104. To this end, the surgical system 100 monitors the force and torque applied by the user. The force and torque applied to the tool 104 are detected and measured by the control system 124. Generates corresponding inputs (e.g., one or more corresponding input / output signals) that are used in the Sensors 180 that measure the force / torque of a vehicle can be used (e.g., multiple DOF force / torque variations). The force and torque applied by the user are measured in manual mode (or other modes). The external force Fext is used at least in part to determine how to move the tool 104. The external force Fext is defined in U.S. Pat. No. 9,119,655, as referenced above. Title of invention: "Surgical Manipulator Capable of Co ntrolling a Surgical Instrument in Multi As described in "Ple Modes," gravity compensation force, backdrive force, etc. This may include other forces and torques than those applied by the user. The forces and torques applied by the force at least partially define the external force Fext, and in some cases If necessary, the entire tool 104 may be operated in manual mode and / or other modes described in more detail below. The external forces Fext that affect the physical movement can be fully specified.

[0110] The sensor 180 detects the force and / or force generated between the manipulator 102 and the target site TS. is configured to detect torque (e.g., force applied to the tool 104 by a user) For illustrative purposes, the sensor 180 may comprise a six degree of freedom (DOF) force / torque transducer. adjacent to or otherwise as part of the coupling 110 of the manipulator 102 ( For example, it is generally shown coupled to joint J6 of robot arm 108. However, other configurations and arrangements are contemplated. the application controller 134, the tool controller 136, and / or the surgical system 10 Other components of the system may receive signals (e.g., as inputs) from sensors 180. In response to user-applied forces and torques, the manipulator 102 can The tool is then manipulated in a manner that emulates the motion that would have occurred based on the forces and torques applied. The movement of the tool 104 in manual mode is also controlled by the boundary generator 172. In some embodiments, the sensor may be constrained relative to a virtual boundary 174 generated by the sensor. The measurements taken by the sensor 180 are converted from the sensor coordinate system SN of the sensor 180 to another coordinate system , for example, into a virtual mass coordinate system VM, in which the virtual simulation The simulation VS is performed on a virtual rigid body VRB model of the tool 104, thereby In Simulation VS, forces and torques are virtually applied to a virtual rigid body VRB, and these forces and Finally, we will examine how torque (among other inputs) affects the motion of a virtual rigid body VRB. can be decided.

[0111] The surgical system 100 also operates the active joint J of the manipulator 102. by moving the tool 104 without requiring force / torque from the user to the tool 104. The manipulator 102 moves the tool along the milling path MP in an automated manner. 104. Examples of operation in semi-autonomous mode are also described previously. Referenced "Surgical Manipulator Capable of Co ntrolling a Surgical Instrument in Multi and in U.S. Patent No. 9,119,655 entitled "Multiple Modes." In some embodiments, when the manipulator 102 operates in a semi-autonomous mode, the manipulator The simulator 102 can operate the tool 104 without user assistance. "Without user assistance" means that the user does not physically interact with the tool 104 or the robotic arm 108. This may mean no contact and no movement of the tool 104. Alternatively, the user may Use a remote control (e.g., pendant, not shown) to start and stop the movement For example, a user can press and hold a button on a remote control to control the The button can be released to start the movement of the tool 104 and the button can be released to stop the movement of the tool 104. An example of this type of remote control embodied in a user pendant is "Robo tic Systems and Methods for Controlling a Tool Removing Material from Workpiece” No. 10,117,713, the disclosure of which is incorporated by reference in its entirety. and is incorporated herein by reference in its entirety. Other configurations are contemplated.

[0112] In manual mode, it is up to the user to move the tool 104 from the current state SC to the target state ST. When it is difficult to move (e.g., to a target position PT, a target direction OT, or a target pose) Moving the tool 104 to a particular target state ST means moving the tool 104 to a milling The tool 104 may be positioned in a particular location for any number of reasons, such as to be positioned in a desired proximity to the path MP. To receive the implantable component 116 for alignment with the orbit / plane, etc. It may be desirable to orient the tool 104 in the proper orientation for processing of tissue. However, it may be difficult for a user to position the tool 104 with sufficient precision. This is because the patient P's anatomy is partially obscured from the user's view by soft tissue, body fluids, etc. This can be particularly difficult when the surgical system 100 is partially obstructed. , previously referenced "Surgical Manipulator Capable o f Controlling a Surgical Instrument in M No. 9,119,655 entitled "Multiple Modes" Thus, Tool 1 can be switched from manual to semi-autonomous mode. To place tool 104 in the target state ST, manipulator 102 moves tool 104 to the current It can move autonomously from state SC to the target state ST.

[0113] While the user maintains hand contact with the tool 104 and moves toward the goal state ST If desired to achieve control of the tool 104, the surgical system 100 may also include guided haptics. The guided haptic mode allows the user to move the tool 104 to a target state S to place it in T (attraction), or in other cases to place it in the target state ST (attraction). to help guide the user towards the goal state or to guide the user away from the goal state (anti- In guided haptic mode, it can be used in both manual and semi-autonomous modes. For example, the force and torque applied by the user are The signals are detected by the sensor 180 and fed to the virtual simulation VS. Determine the external force Fext that at least partially influences the overall motion of 104. In the guided haptic mode, the surgical system 100 applies a virtual constraint VC embodied in a virtual force Fc. generates an imaginary attractive (or repulsive) force VF (or torque), which, together with the external force Fext, The guided haptic mode moves the tool 104 to the target state ST. (repulsive tactile sensation) and / or to move the tool 104 to the target state ST (attractive tactile sensation). It can be used to attract attention.

[0114] The virtual gravitational force VF is virtually applied to the virtual rigid body VRB in the virtual simulation VS. The tool 104 may be attracted or otherwise urged toward the target state ST. The virtual attractive force VF includes a force and / or torque adapted to move the tool 104 to the target state. Haptic feedback to show the user how to move to reach the ST Influence the overall behavior of the tool 104 in a manner that is presented to the user. More specifically, In the virtual simulation VS, the forces and / or torques associated with the virtual attractive force VF are externally The effect of forces and / or torques (and / or other forces and / or torques) on the force Fext can be disabled and the tool 104 will eventually move in a manner that provides a haptic interaction effect to the user. This haptic interaction effect is used as a tool to reach the goal state ST. 4 indicates the direction / rotation in which the tool 104 needs to be moved. Thus, the guided haptic mode Although it relies on manual manipulation to move the Rather than simply emulating the motion that would occur based on forces and torques, Actively control the user to guide them towards state ST. The mode provides the benefits associated with autonomous (or semi-autonomous) movement of the tool 104. This allows for direct user interaction with the tool 104.

[0115] In the guided haptic mode, the tool 104 is effectively attracted to the target state ST and These effects can be created with one or multiple degrees of freedom (DOF). The target state ST can be generated to attract the tool 104 to the target state ST. Can the state ST be defined such that the tool 104 is attracted with only one degree of freedom DOF? , or the tool 104 may be defined to be attracted with two or more degrees of freedom DOF. Therefore, the target state ST is defined by the target position PT, the target direction O, and the target coordinate system TF. The target position PT may include target coordinates T, or both (e.g., target pose TP). One or more position components relative to the x, y, and / or z axes of the system TF (e.g., x position XP, y-position YP, and / or z-position ZP). T can be expressed as the origin of the target coordinate system TF. Similarly, the target direction OT can be expressed as the origin of the target coordinate system TF. One or more directional components (e.g., x direction) with respect to the x, y, and / or z axes of the reference frame TF. The x-position XP, the y-position YP, and / or the z-direction Z0 may include an x-position XP, a y-position YP, The z-position ZP, x-direction XO, y-direction YO, and z-direction ZO are the degrees of freedom, respectively. In some cases, the target direction OT is expressed in terms of the target coordinate system T The term "target pose" TP can be expressed as the orientation of the x, y, and z axes of F. One or more position components XP, YP, ZP and one or more direction components XO, YO, Z In some cases, the target pose TP is a combination of the target coordinate system TF and the target pose TP. All degrees of freedom DOF may include a target position PT and a target direction OT. The target position PT and / or the target direction OT are called the starting position and / or the starting direction. This may also occur.

[0116] The target coordinate system TF can be any coordinate system in which the target state ST is defined, and the target state S T is used to monitor the current state SC of the tool 104 relative to the target state ST of the tool 104. The target state ST can be transformed into any other coordinate system desired for the purpose. LCLZ, manipulator coordinate system MNPL, virtual mass coordinate system VM, tool The target state ST can be tracked by the anatomical coordinate system of the patient P. The model AM may be specified in terms of an anatomical model coordinate system, an anatomical tracker coordinate system (e.g. For example, tracked by one or more patient trackers 160A, 160B). The current state SC of the tool 104 may be fixed with respect to the anatomy of the patient P in A induced coordinate system GF can be defined with respect to the induced coordinate system GF. The induced coordinate system GF can be linked to another coordinate system. or the current state SC allows tracking of the current state SC to the target state ST. For example, the current state SC can be transformed into an arbitrary guiding coordinate system GF to Coordinate system, localizer coordinate system LCLZ, manipulator coordinate system MNPL, virtual mass coordinate system In some embodiments, the tool center point may be tracked in a VM, a TCP coordinate system, etc. , the current state SC of the tool 104 is initially defined by the tool center point TCP coordinate system. (For example, the TCP coordinate system and the derived coordinate system GF are shown to be the same for purposes of illustration.) The target state ST can be initially specified with respect to the anatomical model coordinate system, but the guide coordinate system Both the GF and target TF frames can be transformed into a common frame for tracking purposes. T can be defined preoperatively, intraoperatively, or both. Various methods, such as intraoperative planning and anatomical models, are available. Such aspects are described in "Surgical Systems and Methods for F acilitating Ad-hoc Intraoperative Planni ng of Surgical Procedures,” U.S. Patent Application Publication No. US2018 / 0333207A1, the disclosure of which is incorporated by reference in its entirety. is incorporated herein. Other configurations are contemplated.

[0117] The control system 124 controls the virtual simulation to drive the tool 104 to the target state ST. The force VF is defined to generate a virtual attractive force VF (e.g., force and / or torque) that is used by the These virtual constraints VC are referred to herein as guide constraints G The guide constraints GC are ultimately used to influence the movement of the tool 104 to the goal state ST. The user is then prompted to select one of the above haptic interaction effects. In general, the virtual constraints VC are used to control the manipulator 102 to move the tool 10. The control system, along with other movement-related information, uses the information to determine how to command the robot to move. These are the constraints on the rigid body motion that are considered by the system 124. As explained further below, Additionally, the Guide Constraint GC uses a configurable spring parameter to prevent the Guide Constraint GC from becoming infinitely stiff. parameter PS and damping parameter PD. More specifically, some versions In this case, the guide constraint GC is the force and torque applied by the user in the direction opposite to the goal state ST. as "soft constraints" so as not to prevent movements that violate them, such as movements arising from the Therefore, in guided haptic mode or other modes, the user may Even if a GC is violated, the guide constraint GC still affects the user's perception (e.g., haptic interaction). Action and effect) Generates attractive force and torque against the user, and moves in the direction opposite to the target state ST. There is still a possibility that it can influence the behavior of Rule 104, which will The user knows in which direction the tool 104 needs to move to reach the target state ST. For example, the user may move closer to the tool 10 compared to moving away from the goal state ST. These tactile interactions are because it is easy for the 4 to move towards the goal state ST. The user can feel the effect of the action (e.g., the user feels the effect of the action as they move towards the goal state ST). Compared to the target state ST, more work needs to be done to move the tool 104 away from the target state ST. In other words, a physical spring acts as a guide for the tool 104. The user may feel as if they are interconnecting the coordinate system GF with the target coordinate system TF ( See the spring and damper diagram in Figure 6).

[0118] One or more guide constraints GC are used to define up to three guide constraints associated with the target position PT. The user is guided by a guide constraint GC and a target direction OT. This can be used by the control system 124 to guide the As such, the control system 124 determines the guide constraints GC (and other virtual constraints VC, if used). ) The constraint force Fc is calculated to move the tool 104 to the target state. To attract the state ST, a virtual attractive force VF (e.g., force and / or torque) is applied to it. Each guide constraint GC is considered as a one-dimensional virtual constraint VC. In some embodiments, the guide constraint GC is a velocity impulse constraint. , previously referenced "Surgical Manipulator Capable o f Controlling a Surgical Instrument in M No. 9,119,655 entitled "Multiple Modes" Similar to those used in impulse modeling. In some embodiments, these The virtual constraint VC is specified only in guided haptic mode, not in manual or semi-autonomous modes. In some embodiments, the virtual constraint VC is used in all modes. It is intended to be completed.

[0119] In Figure 6, three guide constraints GC associated with the target position PT are expressed in the target coordinate system TF. These three guiding constraints result in a GC. The constraint force Fc finally calculated is the force Fc calculated by dividing the tool center point TCP of the tool 104 by the target position PT (e.g., to the origin of the target coordinate system TF) This is just one example. The constraint force Fc may include force and torque components to align the tool 104 to the target orientation.

[0120] The guide constraint GC (and other virtual constraints VC, if used) is primarily a constraint Jacobian Three runtime parameters are given: the velocity Jp, the desired velocity Vdes (or Vp2), and the constraint distance Δd. The Jacobian Jp is defined by the following parameters: Mapping to the coordinate system used for the simulation VS (e.g., virtual mass coordinate system VM) The desired velocity Vdes (or Vp2) is the sum of the guide constraints GC of the target coordinate system TF. Here, the desired velocity Vdes is the velocity defined for the patient P when the patient P is motionless. The associated target state ST obtained can be zero when the patient is not moving, but can be zero when the patient is moving. When the target state ST is set, it may be non-zero because it may be tied to the patient P. The approximate distance Δd indicates how close the guide frame GF is to the constraint and whether the constraint is violated. In some cases, Δd is the distance / angle of the current state SC from the goal state ST. refers to whenever the current state SC does not match the target state ST in the relevant degrees of freedom. Violating the guide constraint GC.

[0121] The guide constraint GCs are not completely rigid, but instead each guide constraint GC has There is an adjustment parameter TPA to adjust the stiffness of the virtual constraint VC (e.g., spring parameter (by incorporating the parameter PS and / or the damping parameter PD). The parameters TPA may include a constraint force blend parameter C and an error reduction parameter ε. The parameter PS and the damping parameter PD are set at or below the Adjustments can be made between other modes as will be described in more detail. In this state, the value of the tuning parameter TPA is determined based on the relationship between the current state SC and the target state ST. For example, the tuning parameter TPA may vary depending on the tool 104's proximity to the target state ST. The tuning parameter TPA can be configured to increase stiffness as the tool moves. The stiffness may decrease as the control 104 approaches the target state ST. The TPA may differ for each guide constraint GC. For example, the guide constraint GC may adjust A first virtual constraint VC having a first value of the parameter TP1 and a second value of the tuning parameter TPA and a second virtual constraint VC having a value of 2, the first value being embodied in a constraint force Fc. The resulting virtual attractive force VF (e.g., force and / or torque) is applied to the second virtual constraint V C, so as to attract the tool 104 more strongly as a result of the first virtual constraint VC. The value of the adjustment parameter TPA is greater than the second value so that it is adapted to the directional constraints. In some cases, the position constraint is stronger (e.g., stiffer) than the other, and vice versa. is intended.

[0122] The adjustment parameter TPA is related to the distance / angle from the current state SC to the target state ST. It remains constant and increases exponentially depending on the distance from the current state SC to the target state ST. Descending,in the direction of the constraint, which varies proportionally to the,distance between the current state SC and the goal state ST. It can also be set to take into account the effects of gravity, etc. The adjustment parameter TPA of one virtual constraint VC associated with a DOF is can be set based on a relationship associated with F (e.g., the stiffness of the x-axis constraint is set based on the current state S (This may vary based on the distance along the y-axis between C and the target state ST.) The data TPA also determines the direction in which the tool 104 needs to move to reach the target state ST. direction (e.g., one direction along the x-axis compared to the opposite direction along the x-axis) (It is more rigid when moving in the opposite direction.) The adjustment parameter TPA is the constraint force Fc or its optional By increasing or decreasing the stiffness according to the size of the desired component, the guide constraint GC is It can also be scaled according to the constraint force Fc that is finally calculated based on Depending on the situation, one or more fixed values ​​of virtual attractive forces VF are added to the virtual simulation VS. You can also do this.

[0123] The adjustment parameter TPA of the guide constraint GC is set by the user to move the tool 104 to the target position PT and / Or it may be set so that it can be easily moved from the target direction OT. In other words, the adjustment parameter TPA is set by the user in the virtual simulation VS. The effect of the force and torque obtained exceeds the effect of the virtual attractive force VF (e.g., force and torque) Therefore, the control system 124 may be configured to Even if enabled, the user may move the tool 104 to the target position PT and / or the target direction. The guide constraints GC may be configured to allow for repositioning and / or redirection away from the direction OT. The adjustment parameters of TPA can be set preoperatively or intraoperatively and updated intraoperatively. The adjustment parameters TPA and These values, their correlation with specific relationships, and how they can be scaled are discussed later. Retrieving one or more of the data in any suitable memory 140 of the control system 124 The values ​​may be stored in a lookup table.

[0124] Each guiding constraint GC also has a configuration parameter CPA. Information on TPA tuning parameters such as the force mixing parameter C and the error reduction parameter ε , upper force limit FLU and / or lower force limit FLL, and / or upper limit constraint distance offset D May include upper and lower force limits FLU, ... The LO is finally solved by the constraint solver 192 as further described below. Refers to the force limit calculated for each guide constraint GC that produces a force Fc. C is a two-sided constraint (e.g., the force calculated to satisfy the constraint can be positive or negative), Force limits FLU and FLO are high in both positive and negative directions (e.g., -100,000 / +100, 000 Newtons) or any limit you like. Upper and lower constraint distance offset D OU and DOL determine when constraints are active. The upper and lower constraint distance offsets DOU and DOL are the distances between the current state SC and the target state ST. A constraint can be set to be active whenever

[0125] FIG. 7 illustrates the process executed to implement the guided haptic mode in some embodiments. Here, the operation control 178 includes a path handler 188, a guide handler 190, and a 90, a constraint solver 192, and a virtual simulator 194. The motion control 178 includes: The virtual boundary is generated based on one or more virtual boundaries 174 generated by the boundary generator 172. The system further includes a boundary handler 196 for generating boundary constraints BC. A guide handler 190, a constraint solver 192, a virtual simulator 194, and a boundary handler Each of the controllers 196 is connected to one of the aforementioned controllers 132, 134, 136 or Executable programs stored in a plurality of non-transitory memories 140 and implemented by the control system 124 Each of the parts of the motion control 178 introduced above is described in more detail below. will be done.

[0126] The guide handler 190 acquires the target state ST of the tool 104 and Based on the state ST and the current state SC, generate one or more guiding constraints GC. As shown in FIG. 7, the two inputs to the guide handler 190 are the current state SC and the target The last commanded pose CP is relative to the current pose of the tool 104. Therefore, the current state SC can be defined with respect to the last commanded pause CP. The state ST is defined by the anatomical coordinate system, the anatomical tracker coordinate system, etc., and the current state SC The other input to the guide handler 190 is the guide constraint G Includes the configuration parameter CPA and tuning parameter TPA for C. Guide Handler 19 0 is the relationship between the current state SC and the target state ST, as well as the configuration parameters CPA and Specify one or more guide constraints GC based on the relationship between the tuning parameter TPA The guide constraint GC is output from the guide handler 190 to the constraint solver 192.

[0127] Various virtual constraints, including guide constraints GC, path constraints PC, bound constraints BC, and other constraints VC can be fed to the constraint solver 192. These virtual constraints VC are used to For example, in some cases, the path constraint PC, the boundary Constraint BC and other constraints may not be generated. In this operation mode, the guide constraint GC may not be generated. All of the virtual constraints VC that are applied can affect the movement of the tool 104. Only the guide constraint GC will be described in detail.

[0128] The constraint solver 192 generates a virtual constraint VC based on the virtual constraints VC provided to the constraint solver 192. The virtual simulator 194 calculates the constraint force Fc virtually applied to the tool 104. In haptic mode, the constraint force Fc is determined based on one or more guide constraints GC and the current state. a force and / or force adapted to attract the tool 104 from the state SC towards the target state ST; or torque components. If only the guide constraint GC is input to the constraint solver 192, The constraint force Fc can be considered as the virtual attractive force VF mentioned above. However, other virtual constraints When approximately VC is used, the constraint solver 192 finds a constraint force that satisfies all virtual constraints VC. The final task is to provide a solution for Fc, and therefore the other virtual constraints VC are also constraints. In these cases, the magnitude / direction of the virtual attractive force VF (e.g. , forces and / or torques) are the constraints directed towards the goal state ST as a result of the guide constraints GC. It is considered to be the force and torque components of the approximate force Fc.

[0129] Referring to the constraint equation CEQ shown in FIG. 8, the constraint solver 192 calculates Then, the constraint data of each virtual constraint VC is arranged in a matrix format in the corresponding row of the constraint equation CEQ. where Fp is the force vector in the target coordinate system TF, and each component of Fp is the corresponding constraint direction. is the scalar constraint force acting on the . To solve for Fp, we use ,The equation shown in Figure 8 is converted into a matrix equation where each row represents a single one-dimensional virtual constraint VC. The constraint data are external force Fcgext, damping force Fdamping, inertia force Finertia l, virtual mass matrix M, virtual mass velocity Vcg1, and time step Δt (e.g., 125 Ma The constraint solver 192, such as a microsecond solver, solves the constraint equation CEQ along with other known information. To be placed.

[0130] The virtual mass matrix M is a combination of a 3x3 mass matrix and an inertia matrix. The inertial force F and the damping force F are calculated by the virtual simulator 194. are calculated using the virtual simulator 1 at the previous time step or are otherwise known. The virtual mass velocity Vcg1 (for example, the velocity of the virtual mass coordinate system VM) output by 94 The virtual mass velocity Vcg1 is the velocity of six degrees of freedom (DOF) including linear and angular velocity components. The damping force Fdamping is calculated by the virtual mass velocity Vcg1 and the damping coefficient matrix is the force / torque vector of the 6 DOF calculated as a function of (linear and rotational coefficients) (These may not be equal.) Apply damping to the virtual mass to improve its stability. The inertial force Finertial is also a function of the virtual mass velocity Vcg1 and the virtual mass matrix M. It is also the force / torque vector of the 6 DOF calculated by the damping force and inertia force, Fdam. ping and Finertial are "Robotic Systems and Meth od for Transitioning Between Operating M odes” in accordance with the method described in U.S. Patent No. 9,566,122. No. 6,229,699, the disclosure of which is incorporated herein by reference in its entirety.

[0131] The constraint solver 192 best satisfies the system of equations (e.g., various virtual constraints VC). To find the (best-satisfying) solution, we use any suitable algorithm to solve the system of equations CEQ. algorithmic instructions (e.g., iterative constraint solver, projected Gauss-Seidel solver, etc.) In some cases, not all virtual constraints VC may be satisfied simultaneously. For example, if the motion is over-constrained by various virtual constraints VC, the constraint solver 19 2 essentially finds the "optimal" solution, taking into account the relative stiffness / damping of the various virtual constraints VC. The constraint solver 192 solves the simultaneous equations and finally outputs the constraint force Fc.

[0132] When using the projected Gauss-Seidel solver, the constraint solver 192 computes the virtual constraint VC. Create matrices A and b based on the simultaneous equations using a projected Gauss-Seidel solver to determine the resulting force vector Fp. Next, the constraint solver 192 solves the projected Gaussian Takes the output of the Seidel solver and converts it from the target coordinate system TF (e.g., the constraint coordinate system) Transform into the virtual mass coordinate system VM. For example, using the equation Fc=JpTFp, Fc is Each resulting force vector Fp is applied to the virtual mass coordinate system VM. is converted into a force / torque vector.

[0133] Using the projected Gauss-Seidel solver to solve a system of equations with multiple constraints, e.g. For example, “Constraint based physics solver” by M arijn Tamis and Giuseppe Maggiore, June 2015 As shown on the 15th of the month (v1.02), this is http: / / www.mft-spi rit.nl / files / MTamis_ConstraintBasedPhysi The results can be found in the csSolver.pdf or in the "Comparison be tween Projected Gauss-Seidel and Sequent ial Impulse Solvers for Real-Time Physic s Simulations”, by Marijn Tamis, July 1, 2015 (v 1.01), which can be found at http: / / www.mft-spirit.nl Found at / files / MTamis_PGS_SI_Comparison.pdf; and the like, both of which are incorporated herein by reference in their entireties.

[0134] The projected Gauss-Seidel solver addresses the linear complementarity problem (LCP). A type (e.g., a one-sided virtual constraint VC, such as a boundary constraint BC) can only be pushed or Inequalities related to LCP arise because we can "apply forces" (e.g., positive constraint forces). The forces calculated for such virtual constraints VC are invalid given the constraint solver 192. is negative (or, more broadly, outside its tolerance range) for a given iteration of The virtual constraints VC must be pruned (or the upper or lower tolerances FLU, FLO (limits / upper limits are set by ), the remaining virtual constraints VC are In this way, the constraint solver 192 solves for a given time step Determine the active set of virtual constraints VC and then solve for their values. A type can exert forces in both positive and negative directions (e.g., a two-sided virtual constraint VC) Such virtual constraints VC direct the user to move the tool 104 towards the goal state ST. The virtual constraints VC are used to guide the user. ,When enabled, it is normally active and pulls during the constraint solver 192 iterations. No cleaning / restrictions.

[0135] The constraint forces Fc calculated by the constraint solver 192 are three forces along the x, y, and z axes. and three torque components about the x, y, and z axes. In the virtual simulation VS, the external force Fcgext and the damping force Fdamping , and inertial forces Finertial (all of which can contain six components of force / torque ) along with the constraint force Fc. In some cases, these components of the force / torque are initially are transformed into a common coordinate system (e.g., a virtual mass coordinate system VM) and then summed to obtain the total force FT. The resulting six degrees of freedom (DOF) forces (e.g., forces and torques) are applied to the virtual rigid body. The resulting motion is calculated by the virtual simulator 194. Therefore, the virtual simulator 194 determines, among other things, whether the various virtual constraints VC are related to the virtual stiffness. It effectively simulates how the VRB affects the movement of the body. The virtual simulator 194 performs forward dynamics and calculates the velocity of the virtual rigid body VRB. Based on the given total force FT, the resulting 6 DOF position of the virtual rigid body VRB is calculated. In some embodiments, the virtual simulator 194 calculates the speed and velocity of the Non-transitory memory 140 of any one or more of the controllers 132, 134, 136 and implemented as executable software that is stored in It is equipped with a physics engine.

[0136] In the case of the virtual simulation VS, the virtual simulator 194 calculates the mass coordinate system VM. The origin is located at the center of mass of the virtual rigid body VRB, and the coordinate axes are aligned with the principal axes of the virtual rigid body VRB. In this state, the tool 104 is modeled as a virtual rigid body VRB in a virtual mass coordinate system VM. Virtual Rigid Body VRB is a dynamic object and tool for the purpose of virtual simulation VS. The virtual rigid body VRB is a rigid representation of the 104. The virtual rigid body VRB is a deformed rigid body according to the virtual simulation VS. The virtual simulation VS can move freely according to the six degrees of freedom (DOF) in the virtual space. It may be computationally processed without any visual or graphical representation. Simulation VS does not need to display the dynamics of the virtual rigid body VRB. Once this is done, the virtual rigid body VRB is used within the graphics application running on the processing unit. The virtual rigid body VRB is only for the virtual simulation VS. However, other configurations are contemplated.

[0137] The virtual rigid body VRB and its properties (e.g., mass, inertia matrix, center of gravity, principal axes, etc.) , applied forces and torques (e.g., user-applied forces and torques, and virtual pulls) (from a total force FT incorporating force VF and / or torque) The virtual rigid body VRB determines whether the tool 104 feels heavy or light, and and how the tool 104 moves (e.g., translationally and By adjusting the characteristics of the virtual rigid body VRB, The control system 124 can adjust how the tool 104 feels to the user. Tool 1 can be used to provide movement / feel that is as realistic as possible but not essential. It has virtual rigid body VRB characteristics that are modeled to be reasonably close to the actual characteristics of the 04. For reasons of control stability (e.g., finite (given the acceleration, control latency, etc.), the virtual mass and inertia are It can be modeled to be somewhat higher than that of Model 104.

[0138] The virtual rigid body VRB corresponds to a component that may be on or within the tool 104. Additionally or alternatively, the virtual rigid body VRB may partially transcend the physical tool 104. The virtual rigid body VRB can be extended by a tool equipped with an energy applicator 114. The tool 104 may be considered a tool with or without an energy applicator 114. 104 may be considered. Furthermore, if the virtual rigid body VRB is based on the tool center point TCP, In one example, the center of gravity of a virtual rigid body VRB is the point at which a virtual force is applied to another point on the virtual rigid body VRB. and the virtual rigid body VRB is not otherwise constrained (e.g., manipulator 10 2) is understood to be the center point around which the virtual rigid body VRB rotates. The center of gravity of the virtual rigid body VRB can be close to the actual center of gravity of the tool 104. , do not have to be the same. The center of gravity of the virtual rigid body VRB can be determined empirically. Tool 104 When attached to the manipulator 102, the weights can be adjusted to accommodate individual user preferences. You can reset your mind.

[0139] The virtual simulator 194 applies force to the virtual rigid body VRB in the virtual simulation VS. By virtually applying force and / or torque, for example, the force and torque components can be calculated as a total force. By virtually applying FT to the center of gravity of the virtual rigid body VRB in the virtual mass coordinate system VM, effectively simulating the rigid body dynamics of the tool 104. Thus, the virtual rigid body V The force / torque virtually applied to RB is expressed as an external force Fcgext (e.g., one or more based on input from sensor 180), damping force Fdamping, inertia force Finertia l, and various virtual constraints VC (by being instantiated in constraint forces Fc). It can include the force / torque from the constraint force Fc.

[0140] The rigid body Jacobian is a function of the velocity and force in one coordinate system (or "reference frame") on the same virtual rigid body VRB. can be used to convert from one coordinate system to another, and is used here to calculate the external force Fext Forces and torques can be transformed into the virtual mass coordinate system VM (e.g., used in the constraint equations CEQ) (To generate the external force Fcgext). Next, the virtual simulator 194 generates the damping force Fdam The ping and inertial force Finertial are calculated internally to determine the total force FT, and The damping force Fdamping and the inertia force Fin are used by the constraint solver 192. Output the initial as a system of equations for the next time step.

[0141] As shown in Figures 9 and 10, the virtual forward dynamics algorithm VFA is It is used in the simulation VS to simulate the movement of the virtual rigid body VRB that moves when the full force FT is applied. In effect, the Virtual Forward Dynamics Algorithm (VFA) simulates the equation Solve F=ma (or a=F / M) with 6 degrees of freedom, integrate acceleration to generate velocity This is used to determine the new pose, as shown in Figure 10. The system 124 may generate a virtual force and / or torque (e.g., a total force FT) in a virtual simulator 19. 4, and these virtual forces and / or torques are applied to the virtual rigid body VRB at the initial velocity and initial position. When the virtual simulation VS is in the center of gravity (for example, CG) virtual rigid body VRB The virtual rigid body VRB is a control system that satisfies the input virtual forces and / or torques. In response to the system 124, the final poles may have different states (e.g., positions and / or orientations). The next command sent to the motion control 182 is The calculated pose CP is based on the final pose calculated by the virtual simulator 194. Therefore, the virtual simulator 194 generates a virtual forward dynamics By simulating the effect of applying a total force FT to a virtual rigid body VRB using It operates to determine the command pause CP.

[0142] A speed limit VL may be imposed on the virtual rigid body VRB of the virtual simulation VS. In some cases, the speed limit VL can be set high, which generally affects the virtual simulation VS. The virtual rigid body VRB can be set to no effect or to any desired value. ,is in an initial pose (e.g., initial state) at the beginning of each iteration of the virtual simulation VS. (e.g., at each time step / interval dt) there is an initial velocity. The initial pose and initial velocity are , the final pose and final velocity output by the virtual simulator 194 at the previous time step It can be specified as degrees.

[0143] Finally, the virtual simulator 194 generates the following results based on the virtual simulation VS: The control system 124 calculates and outputs the commanded pose CP. to instruct the manipulator 102 to move the tool 104 based on the size CP. configured to provide a haptic feedback that guides the user to place the tool 104 in the target state ST. By providing feedback to the user, the tool 104 guides the user to the goal state ST. The movement of the tool 104 is guided to place the tool 104 in the target state ST. Therefore, the user can manually operate the tool 104 while The control system 124 guides the tool motion by utilizing the guide constraints GC. The force and torque (e.g., The virtual spotlight (detected by sensor 180) is used to determine the command pose (CP). The external force Fext is combined with the constraint force Fc before executing the simulation VS. This may affect the overall behavior of the wheel 104. (Step 1), the total force FT overcomes the force and torque of the constraint force Fc, and the tool 104 reaches the target state. Form an external force Fext of sufficient magnitude and direction to be movable away from ST. It contains force and torque components. However, as mentioned above, the guide constraint GC has some limitations in certain situations. Configurable stiffness and damping (e.g., (based on spring parameter PS and damping parameter PD).

[0144] FIG. 11 summarizes the various steps performed by the motion control 178. , as performed by the constraint solver 192 and the virtual simulator 194 as described above. In step 1100, the external force Fext is obtained from the sensor 180. In step 1102, various virtual constraints are calculated based on the obtained readings. Constraint data associated with a VC includes path handlers 188, guide handlers 190, and boundary handlers. The constraints are supplied to the constraint solver 192 from the constraint solver 196 and / or other constraint sources.

[0145] In steps 1104 to 1108, rigid body calculation is performed by the virtual simulator 194. The inverse mass matrix M-1, inertial force Finertial, and damping force of the virtual rigid body VRB are calculated. In steps 1110 to 1114, the constraint solver 1 92 is the output from the rigid body calculations performed in steps 1104-1108, and Using the constraint data provided in 102, the constraint force calculation described above is performed, and finally the constraint force In step 1116, the constraint force Fc is calculated based on the virtual mass coordinate system VM(Fcgex t) converted into external force Fext, damping force Fdamping, and inertial force Finertia In step 1118, the total force F is summed with the virtual system. In the virtual simulation VS performed by the simulator 194, a virtual rigid body VRB and in step 1120, a new pose and velocity of the virtual rigid body VRB are determined. Finally, in step 1122, the new pose and velocity are transformed into the tool center point TCP. The new command pause CP (TTCP) and velocity (VTCP) are set in step 1124. is output by the virtual simulator 194.

[0146] Referring now to FIG. 12, a portion of the surgical system 100 including one of the tools 104 of FIG. Schematically shown are target sites TS generally depicted, e.g., The target site TS is supported on a work surface WS, such as an operating table (details not shown). is the anatomical structure of patient P, such as bone or another type of tissue, that is treated during a surgical procedure To this end, the tool 104 moves away from the target site TS along a trajectory T. The trajectory T is shown as a trajectory of the first patient tracker fixed to the target site TS as described above. - 160A tracking status monitored by the navigation system 128 or Otherwise, it is known by the system. For illustrative purposes, the first tool tracker 160G is shown rigidly attached to tool 104. However, the navigation The location system 128 can calculate the state of the multiple trackers 160 within a common coordinate system as described above. The pose of the tracked object (e.g., tool 104) can be tracked. Determined in other ways (e.g., based on known geometric relationships) and between coordinate systems (e.g., manipulators) It is possible to convert between the modulator coordinate system MNPL and the localizer coordinate system LCLZ. In other words, the surgical system 100 includes, among other things, a tool 104 and an energy application device. Since the shape of the tool tracker 114 is known, the first tool tracker 160G shown does not necessarily have to be without utilizing the first patient tracker 160A. can be determined.

[0147] In this exemplary embodiment, the tool 104 is similarly coupled to the manipulator 102. Mount 148 (shown in phantom) for facilitating releasable attachment to 110 ) and the tool 112 may be connected to a tool controller 136 or another part of the control system 124. Powered by a power generation assembly 152 (shown in phantom) The power generating assembly 152 is realized as a surgical device 150 with one or more or a plurality of types of energy applicators 114, The invention is embodied as an electric motor configured to selectively generate a rotational torque to To this end, the powered surgical device 150 includes a releasable energy applicator 114. To facilitate easy mounting, the generator assembly 152 is disposed in rotational communication with the generator assembly 152. 12, shown in phantom. In the embodiment, this is realized by a bar 154 (appendages not shown in detail). While the tool 104, instrument 112, and / or energy applicator 114 There are several different configurations possible without departing from the scope of this disclosure. 104 may function as an input device 146 (e.g., energy applicator 11 4) a trigger (which starts and stops the rotation of the In some embodiments, the tool 104 and / or power The surgical device 150 is the previously referenced "End Effector of a A patent entitled "Surgical Robotic Manipulator" In some embodiments, the two The powered surgical device 104 and / or the powered surgical device 150 may be ools for Use With Surgical Robotic Manip The present invention is disclosed in U.S. Patent Application Publication No. 2018 / 0110572 A1 entitled "Frequency Regulators" Other configurations may be similar to those described herein, the entire contents of which are incorporated by reference. It is illustrated.

[0148] With continued reference to FIG. 12, the power generation assembly 152 of the powered surgical device 150 is represented by a frame 202 (generally shown in phantom), e.g., one or more Operatively attached to mount 148 by fasteners (not shown). Frame 2 02 is formed separately from mount 148 in the illustrated embodiment, although other configurations are contemplated. The mount 148 may be any suitable mount sufficient to facilitate coupling to the manipulator 102. It can be formed from or otherwise realized by any number of components. The frame 202 also supports the power generation assembly 152 and other portions of the tool 104. It can be defined by several different components that work together to In an embodiment, one or more covers 204 may be used by the tool 104 to Conceal, protect, or otherwise shield a component (e.g., mount 148) from the external environment. The cover 204 may also be used to protect electrical components (e.g., wires, electrical connectors, plugs, etc.). The tool 104 can be detached from the manipulator 102. The cover of the mount 148 and manipulator 102 is attached to facilitate easy attachment. A sterile interface system (not shown, but shaped and positioned to allow access to the Here, the releasable attachment of the coupling 110 to the mount 148 The tool 104 may be secured to the manipulator 102 in several different ways. This can be achieved through law.

[0149] In FIG. 12, a portion of the target site TS is shown in phantom, and for illustrative purposes, this representative The tissue removed by the burr 154 along a trajectory T, which in the example serves as the milling path MP. Again, the intended volume of tissue (e.g., bone) is shown at the target site TS. The intended "depth" of the tool is defined as a target point that can be specified as a coordinate system, similar to the tool center point TCP. Here, both the tool center point TCP and the target reference point TRP are are shown positioned along the trajectory T.

[0150] Continuing with FIGS. 12 through 13A, the tool 104 may be in one of various modes described herein. or by manipulating the manipulator 102 with multiple The bar 15 of the energy applicator 114 is arranged along a trajectory T maintained by 4 advances along a trajectory T to engage a target site TS. More specifically, , the tool center point TCP of the energy applicator 114 defined by the bar 154 is , positioned along trajectory T, and energy applicator 114 is similarly aligned with trajectory T. The tool 104 rotates around the drive axis AD. Here, the tool center point TCP is the point where the tool 104 is on the trajectory T. The remaining volume of tissue (e.g., bone) removed by the burr 154 as it advances along For illustration purposes, the target reference point TRP is spaced apart. 13A) the tool center point TCP is located closer to the target reference point TRP. It shows.

[0151] 14A-14D show energy applicator 114 or another portion of tool 104. Effectively "attached" to the manipulator 102, the target site TS and tool 104 They move together in one or more degrees of freedom (DOF), either instantaneously or over time. The present invention provides a hypothetical "runaway" condition for the surgical system 100 that may occur in a particular use case. Here, as an illustrative example, the energy applicator 114 is or changes in properties, irregularities, or friction and / or heat, reduced cutting performance, tissue fragmentation Other types of increased resistance caused by buildup (e.g., "off-cuts"), etc. This may interrupt the tissue removal and cause the energy applicator 114 becomes "locked" into tissue at the target site TS either instantaneously or for an extended period of time. In some cases, the resistance can be large enough to limit the energy application. The target 114 may be "locked" to tissue at a target site TS away from the trajectory T.

[0152] The above hypothetical scenario can be illustrated by comparing Figures 14A-14B. In 14A, the energy applicator 114 is engaged with the target site TS and the drive shaft A A large resistance to rotation about D is encountered, which causes the tool center point TCP to move towards the manipulator. 14B. As shown by the exaggerated misalignment between the A and B energy applicators 114 The target state ST of the tool 104 is Although this can be defined in different ways, for purposes of illustration in this representative example, the target state ST involves simultaneous alignment between the drive shaft AD and the track T. However, the tool shown in FIG. The current state SC of the roller 104 is determined by the drive shaft AD and the position of the energy applicator 114 at the target position. Since the manipulator 102 is currently A "runaway" condition can occur when attempting to move from a current state SC to a goal state ST. A "runaway" condition also occurs when the patient tracker 160 becomes loose from the target site TS and is thereby tracked. This can result in a loss of trace accuracy.

[0153] In this illustrative example, as shown by comparing Figures 14B-14D in succession, Additionally, the movement of the tool 104 to the target site ST is also controlled by the navigation system, as described above. trajectory based on the tracked state of the first patient tracker 160A monitored by the system 128. This results in a corresponding movement of the target site TS that defines the path T (and thus the target state ST). In other words, the manipulator 102 moves the tool 104 from the current state SC to the target state If an attempt is made to move the drive shaft AD back into simultaneous alignment with the track T, ), the target part TS moves together with the tool 104 and does not reach the target state ST ( (For example, simultaneous matching does not occur.) As shown in Figures 14C-14D, this This may ultimately result in the target portion TS being "lifted" off the work surface WS.

[0154] Various techniques are available to detect and / or respond to "runaway" conditions when they occur. To this end, and as explained in more detail below, In some embodiments, the surgical system 100 includes a tool to engage the target site TS. 104, the manipulator 102 is moved to the target site TS (e.g., the tool center point TCP is positioned along the trajectory T to support the tool 104 with respect to the target state ST. As will be described in more detail below, sensing system 206 (see FIGS. 1-2) The referenced reference may be a tool 104, a manipulator 102, a target site TS, or a combination thereof. to detect one or more system conditions SYC related to one or more of the A controller coupled to the manipulator 102 and the sensing system 206 Roller 124 (e.g., manipulator controller 132, tool controller 136 , or another suitable controller of the surgical system 100, see FIG. 25), controls the manipulator. The data 102 is used to align the tool 104 with respect to the target portion TS according to a first constraint criterion C1. The first mode M1 is maintained according to a second constraint criterion C2 different from the first constraint criterion C1. and a second mode M2 ​​that maintains alignment of the tool 104 with respect to the target site TS. The controller 124 is further configured to control one or more system conditions. In response to determining that at least one of the conditions SYC satisfies a predetermined condition PR, 102 from a first mode M1 to a second mode M2. The sensing system 206, the system condition SYC, the first and second modes M1 and M2 , the first and second constraint criteria C1, C2, and the predetermined condition PR are respectively described in more detail below. As will be explained, the techniques described herein involve applying energy to a target area via an energy applicator 114. In conjunction with the tool 104 engaging the position TS, and as shown in FIG. In relation to the tool 104 engaging the target site TS via the engaging component 116 However, other configurations are possible and additional methods are discussed below. More details below.

[0155] In some implementations, the first mode M1 and the second mode M2 ​​are activated and and deactivate it, e.g. to notify the user directly of the mode change. or there is a pause between mode changes. Alternatively, however, in another embodiment, the first and second Modes M1 and M2 control the manipulator 102 according to a feedback control scheme. For example, the constraints C1 and C2 can be understood as different ways of determining the without activating or deactivating the password and without directly informing the user. or in real-time or near real-time without pausing between mode changes. In other words, the constraint criteria C1 and C2 can be changed depending on whether the user is in mode M1 or M2. Whether you realize or start something new, you can change it with a seamless transition. Any combination of these implementations is contemplated and may be referred to as a "first mode" and a "second mode." The term " " should be understood to include any of these implementations without limitation.

[0156] In one implementation, the first and second constraint criteria C1, C2 and their associated parameters The value of may be based on clinical data, experimental data, surgeon preference, or system default settings. In another implementation, the first and second The constraint criteria C1, C2 and the values ​​of any associated parameters are used to determine the sensing system, System conditions SYC, or target conditions, based on measurements from sensors, navigation systems, etc. A controller detects the force generated between the target area and the manipulator, allowing dynamic and operative control. In another implementation, the first and second constraint criteria C1 , C2 is determined preoperatively or in advance, and the first and second constraint criteria C1, C2 The other one is determined intraoperatively.

[0157] Referring now to FIG. 15, a portion of a surgical system 100 including one of the tools 104 of FIG. A portion is shown adjacent to a generally depicted target site TS. The tool 104 moves along a trajectory T maintained by the manipulator 102 to a target site TS. (e.g., a reamed acetabulum) with an implantable component 116 (e.g., a human The implant is designed to facilitate impaction into the artificial acetabular cup. To this end, the implement 112 of the tool 104 may, among other things, be , attached to a coupling 110 of the robot arm 108 and having one or more degrees of freedom a gauge configured to support the impactor assembly 210 for relative movement with the The impactor assembly 210 is implemented as, among other things, an implantable an interface 212 for releasably securing the component 116; and an impact force F A head 214 is positioned to receive the I (for example, by striking the head 214 with a mallet). (added by

[0158] In the exemplary embodiment shown herein, the implantable component 116 is A roughly hemispherical cup that forms part of the artificial hip joint adapted for impaction of P into the acetabulum. Prior to impaction, the acetabulum of patient P is inserted into the rib cage to define the target site TS. Reaming, machining and impaction processes Process holds U.S. Patent No. 8,979 entitled "Depth of Impaction" , No. 859 and "Tool, Kit-of-Parts for Multi-Fun ctional Tool, and Robotic System for Sam No. 8,753,346, entitled "Methods for Producing and Processing Microwaves," and the disclosures therein. Each of these is incorporated herein by reference in its entirety. Although the present disclosure describes various orthopedic procedures, the subject matter described herein may also be used to treat orthopedic injuries, such as those in the shoulder, elbow, wrist, It may be applicable to other joints of the body B of the patient P, such as the spine, knee, ankle, etc. The surgical system 100 may be utilized in connection with several different types of orthopaedic surgical procedures. The implantable component 116 may be of several different types, styles, and configurations. etc. (e.g. cups, stems, screws, pins, rods, wires, anchors, prostheses Thus, various tools 104 are contemplated, including guides 208, indicators, etc. Various configurations of the impactor assembly 210 and / or the implantable component 116 may be used. Any number of different types, types, and / or configurations may be utilized without departing from the scope of this disclosure. can.

[0159] 15-17B, an exemplary embodiment of the guide 208 is shown. The implantable component is attached to the impactor assembly 210 prior to movement of the impactor assembly 210. The implantable component 116 is configured to facilitate advantageous positioning of the implantable component 116. The manipulator 116 is supported by the guide 208 (and therefore the manipulator 102). In other words, the user (e.g., a surgeon) can use the guide 208 to The implantable component may be manually inserted into the implantable component without first having to support the actuator assembly 210. The target site TS can be approached with the implant 116. The approach is completed manually and the implant After the implantable component 116 is positioned at the target site TS, the surgeon then The impactor assembly 210 can be quickly, efficiently, and reliably The implantable core can be articulated to engage the guide 208 in a reliable manner. Aligning the component 116 with the trajectory T maintained by the manipulator 102 With proper alignment maintained, the surgeon applies the impact force FI to the impactor axis. In addition to the head 214 of the assembly 210, the implantable component 116 is For this purpose, and as explained in more detail below, , the guide 208 may be configured to rotate relative to the guide 208 under certain operating conditions of the surgical system 100. configured to allow movement of the impactor assembly 210 in one or more degrees of freedom It has been done.

[0160] 16A-16B, the impactor assembly 210 generally comprises a an interface 212 for releasably securing the embeddable component 116; and a head 214 disposed to receive the impact force FI as described above. The assembly 210 also functions as an impactor during use, as described in more detail below. a first engagement surface 218 adjacent the guide 208 to limit movement of the assembly 210; The impactor assembly 210 generally includes a first axis Along A1, the distal end 220 is adjacent to the interface 212 and the distal end 220 is adjacent to the head 214. The flange 216 extends between the interface 212 and the proximal end 222. 214 and having a spherical profile defining a first engagement surface 218, 2. Define a flange reference point FRP along a first axis A1 located at the center of the flange 216 ( For example, at the geometric center of the spherical profile that defines the first engagement surface 218). The implantable component 116 is an impactor to which the prosthesis is releasably attached. - Define an implant reference point IRP along the first axis A1 of the assembly 210 (FIG. 15 ), the target site TS defines a target reference point TRP along the trajectory T (see FIG. 15 The shaft 224 extends from the distal end 220 to the flange 216 along a first axis A1. A handle 226 with a grip 228 is provided between the flange 216 and the head 214. Each component of the impactor assembly 210 introduced above will be described in more detail below. This will be explained in more detail.

[0161] In the exemplary embodiment shown herein, the head 214, flange 216, and shaft The impactor 224 is defined by an impactor body generally designated 230 and an interface. The face 212 is supported by a carrier shaft 232 housed within the impactor body 230. More specifically, the impactor body 230 is defined as a distal portion along a first axis A1. Extending from end 220 through shaft 224 and handle 226 toward head 214 The carrier shaft 232 generally defines a hollow region 234. The carrier shaft 232 generally extends from a distal shaft end 236 and the proximal shaft end 238 along a first axis A1, and A locking area 240 is provided between them to facilitate rotation and force distribution. The interface 212 is located at the distal shaft end 236 and is connected to the impactor assembly 2. 10 and the implantable component 116 move together when attached. The interface 116 releasably engages the releasable component 116. The implantable component 212 and the implantable component 116 are each generally designated 242. each having a threaded engagement (e.g., internal and external threads, see FIG. 16A), thereby The implantable component 116 is releasably attached to the impactor assembly 210. Attach.

[0162] Adjacent the threaded engagement 242 of the carrier shaft 232, the impactor body 230 , and includes a key portion 244 formed on the distal end 220 of the shaft 224. 44 is a correspondingly shaped notch portion 246 formed in the implantable component 116. (See FIG. 15A, fan This configuration allows the implantable component 116 to be attached to the shaft 2 24 (hence handle 226), This requires that the implantable component 116 be aligned with the target site TS. This configuration may also be advantageous in applications with certain characteristics. Rotation and translation of the carrier shaft 232 relative to the first axis are used to rotate the shaft 224 along the first axis. The threaded engagement 242 can be released without rotating it around A1. and a releasable connection between the implantable component 116 and the impactor assembly 210. To this end, the handle 226 also serves to facilitate easy installation. 214 and the grip 228, and a cage 248 is disposed between the knob 250. The knob 250 is then shaped to facilitate easy access to the carrier shaft 2 32. In the illustrated embodiment, knob 2 50 includes an axial knob aperture 252 formed along the first axis A1 and a a lateral knob aperture 252 formed across the The axial knob aperture 252 is located near the carrier shaft 232. The lateral knob aperture 254 is shaped to receive the carrier shaft end 238. A transverse pin is also received within a transverse shaft aperture 258 formed in the shaft 232. 256 (see FIG. 16B). In addition to ensuring secure retention, this configuration also The handle 2 also allows the handle 2 to rotate and translate simultaneously around the first axis A1. The cage 248 of 26 has a generally U-shaped profile to provide the surgeon with access to the knob 250. The knob 250 is configured to allow limited translation of the knob 250 along the first axis A1 while also providing It is composed of:

[0163] 15 and 17A-17B, as noted above, the illustrated portion of tool 104 The embodiment, among other things, includes a first axis A1 and a robot arm 108 of the manipulator 102. impactor assembly 210 to facilitate maintaining alignment of trajectory T through the impactor assembly 210. For this purpose, the guide 208 is generally A mount 148 (see FIG. 15 ) adapted to be attached to the manipulator 102 generally depicted in phantom), and operably attached to mount 148, The device includes a body 260 having a channel 262 extending along an axis A2. In the exemplary embodiment, the body 260 of the guide 208 is secured to the guide 208 via fasteners (not shown) or the like. and shaped to secure to mount 148 (see FIG. 15, generally depicted). One or more screw holes 264 and recessed areas 266 (see FIGS. 17A-17B) are disposed in the The mount 148 depicted in FIG. 15 includes a main body in the illustrated embodiment. 260, although other configurations are contemplated, and the guide 208 may be formed separately from the manipulator 1. formed from any suitable number of components sufficient to facilitate bonding to O2, Again, in some embodiments, one or more The plurality of covers 204 are used by the guides 208 of the tool 104 to Concealing, protecting, or otherwise shielding a component (e.g., mount 148) from the external environment. The cover 204 can also protect electrical components (e.g., wires, electrical connectors, printed wiring boards, etc.). The tool 104 can be detached from the manipulator 102. Coupling of mount 148 and robot arm 108 to facilitate attachment to the A sterile interface system (not shown, but associated shaped and positioned to allow access to the Again, releasable attachment of coupling 110 to mount 148 is possible. The tool 104 may be secured to the manipulator 102 in several different ways. This can be achieved through law.

[0164] As shown in FIGS. 17A-17B, a channel formed in the body 260 of the guide 208 262 receives a portion of the shaft 224 of the impactor assembly 210 therethrough. The guide 208 also defines an opening 268 arranged to allow the guide 208 to pass through. 15) and a limiter 272. 0 is shaped adjacent to the first engagement surface 218, and the limiter 272 is shaped adjacent to the engagement surface 218. , 270, and the trajectory maintained by the axes A1, A2 and the manipulator 102. The opening 268 in the guide 208 is configured to facilitate coaxial alignment with the passage T. To facilitate alignment of the first axis A1 with the second axis A2, the guide 2 08 between the flange 216 and the interface 212 of the impactor assembly 210 When positioned in the As shown in phantom lines in FIG. 16A, impactor assembly 2 The shaft 224 of the impactor assembly 210 has a first circumference 274. The lunge 216 has a second perimeter 276 that is greater than the first perimeter 274. The flange 216 is larger than the shaft 224 and passes through the opening 268 in the guide 208. The shaft 224 can pass through the opening 268. It is a good size.

[0165] Continuing with reference to FIGS. 17A-17B, as described above, the limiter 27 of the guide 208 2 maintains abutment between the first engagement surface 218 and the second engagement surface 270 during impaction. and facilitates coaxial alignment of axes A1, A2 with trajectory T maintained by manipulator 102. To this end, the limiter 272 in the illustrated embodiment is configured to: a pair of fingers, generally designated 278, disposed adjacent to the channel 262; The fingers 278 extend from the body 260 of the guide 208 to define an opening 268 therebetween. Extending to respective spaced apart finger ends 280 (FIG. 15). The fingers 278 also each have a respective The arcuate surface 282 defines an arcuate surface. The arcuate surface 282 allows the second engagement surface 270 to engage with the first engagement surface 218. 210. The impactor assembly 210 is disposed so as to contact the flange 216 of the impactor assembly 210 when the impactor assembly 210 is adjacent to the flange 216. 270, maintaining the first and second engagement surfaces 218 and 270 adjacent to each other, as described below. 2, limiting the movement of the impactor assembly 210 relative to the guide 208. The arcuate surface 282 of the guide 208 is substantially continuous with the second engagement surface 270 of the guide 208. Both the second engagement surface 270 and the arcuate surface 282 are at least partially enclosed by the channel 262. More specifically, as best shown in Figure 17A, The arcuate surface 282 of the cutter 272 and the second engagement surface 270 of the guide 208 are aligned with the channel 2 62 has a substantially continuous, generally cylindrical C-shaped profile, and the second engagement surface 270 and arcuate surface 282. They are far apart.

[0166] When an impact force FI is applied to the head 214 of the impactor assembly 210, the implant The movable component 116 and impactor assembly 210 necessarily follow a trajectory T. Therefore, the guide 208 and the impactor assembly 210 are As 216 moves through channel 262 (e.g., the surgeon continuously applies a mallet to the impactor When the head 214 of the assembly 210 is struck, the first engagement surface 218 and the second engagement surface The surface 270 is configured to ensure that abutment between the surface 270 is maintained. To this end, the channel 262 (not shown in detail) of the guide 208 is thicker than the thickness of the flange 216. The first and second axially extending portions are spaced apart from each other along the second axis A2 at a depth greater than the first and second axially extending portions. 262A, 262B. Here, the guide 208 extends between the opposite channel ends 262A, 262B. 62 (e.g., the first and second axial channels In this embodiment, the tool center points TCP (equally spaced between the ends 262A, 262B) are However, the tool center point TCP may be any number of positions within the range specified without departing from the scope of this disclosure. It can be defined in other ways.

[0167] Since flange 216 has a generally spherical profile as described above, the second engagement surface When 270 is adjacent to the first engagement surface 218, the flange 270 that defines the first engagement surface 218 Only a portion of 16 actually engages cylindrical channel 262. 2, flange 216 is easily positioned within channel 262 during impaction, and the channel 262. However, the gap between the second engagement surface 270 and the first engagement surface 218 is Maintaining contiguity can be achieved in other ways, for example during impaction. 208 along the trajectory T toward the target site TS using the manipulator 102. (For example, by moving the tool center point TCP to the flange reference point FRP) Other configurations are contemplated.

[0168] As best shown in FIG. 17B, the body 260 of the guide 208 also includes a sensor subassembly. 288, a follower subassembly 290, and an input module 292. Pockets 286, each of which is described in more detail below. 86 extends in communication with the channel 262 and has a pocket adjacent to the channel 262 This facilitates the installation of the follower subassembly 290 located within 286. A portion of the follower subassembly 290 also defines a portion of the second engagement surface 270 (FIG. 1). See 7A).

[0169] The sensor subassembly 288 is generally attached via a fixture (not shown in detail) A first trigger sensor 296, a second trigger sensor 297, and a second trigger sensor 298 are fixed to the main body 260 of the guide 208. 298, and a sensor housing 294 supporting input sensors 300, each sensor comprising: Controller 124 (e.g., manipulator controller 132, tool controller 136, or another suitable one) or other components of the surgical system 100 (e.g., The input sensor 300 may be arranged for communication with the input module (e.g., wired or wireless telecommunication). 292, and the first and second The trigger sensors 296, 298 engage the follower subassembly 290 or As will be understood from the following description, the sensor subassembly Each sensor in the bridge 288 can be of several different types, styles, configurations, etc. Other configurations than those specifically set forth herein are contemplated by this disclosure.

[0170] The input module 292 is configured for selective actuation by the surgeon and generally includes an input field The input frame 302 includes one or more input buttons 304. It is secured to the body 260 of the guide 208 via fasteners (not shown in detail), The input button 304 supports the surgeon to move the In response to actuation by the input sensor 300 (e.g., by pressing the input button 304), In some embodiments, the input button includes a protrusion 306 positioned to engage with the 304 is resiliently biased away from the input frame by a spring (not shown) or the like. However, other configurations are contemplated. The manipulator 102 is configured to facilitate manipulating the manipulator 102 in different ways during a surgical procedure. and may function as an input device 146.

[0171] The follower subassembly 290, like the sensor subassembly 288, is connected to the guide 20 The fastener (not shown in detail) is received in a pocket 286 formed in the body 260 of the The follower subassembly 290 is generally secured to the body 260 by a spring (not shown). In an embodiment, the impactor assembly 210 has a flange 216 adapted to engage the flange 216. A follower housing supports first and second triggers 310, 312 shaped and positioned on the To this end, first and second triggers 310, 312 are provided for the channel 262 and connects to the sensor subassembly 288 in response to engagement with the flange 216. The first and second traction elements are supported by a follower housing 308 so as to be biased toward the Supported within follower housing 308 which engages trigger sensors 296, 298, respectively. , each push rod is independently actuated (not shown). The assembly 290 and the sensor subassembly 288 are secured to the flange 216 within the channel 262. and / or the presence of one or more of the first and second axial channel ends 262A, 2 62B, the relative position of the flange 216 between the channel 262 can be easily determined. at the target site TS based on corresponding changes in the axial position of the flange 216 along the The “tracking” movement of the implantable component 116 along the trajectory T during impaction of the implantable component 116 is shown in FIG. To promote this.

[0172] As described above, the manipulator 102 positions the tool 104 relative to the target site TS. , which in an embodiment is generally linear and oriented to impact the implantable component 116. , and is configured to maintain a trajectory T aligned with axes A1 and A2. An external impact force FI applied to the head 214 of the impactor assembly 210 1. The implantable component 116 is then inserted through the assembly 210. The implantable component 116 is advanced along the trajectory T toward the target site TS. The process of impacting component 116, which will be described in more detail below, is Maintaining the guide 208 relative to the target site TS under certain conditions or a manipulator 102 that restricts certain types of movement, and / or In some embodiments, the movement of the guide 208 is limited or the trajectory is adjusted relative to the target site TS. The manipulator 102 may include directing translation along the T. 8 along a trajectory T, and, inter alia, impactor assembly 210, as described above. This can facilitate passage of the shaft 224 through the opening 268 in the guide 208. Particular steps in the surgical procedure involve controlling the manipulator 102 in different ways. Additionally, various configurations of tool 104 are contemplated by this disclosure, and in some embodiments In some embodiments, the surgical system 100, the tool 104, the instrument 112, and / or the implantable component One or more parts of Component 116 may be labeled "End Effectors, Sy stems, And Methods For Impacting Prosthe U.S. Patent entitled "Medical Robotics Guided By Surgical Robots" It may be similar to that described in application publication no. 2019 / 0231446A1, The disclosure of which is incorporated herein by reference in its entirety. Other configurations are contemplated.

[0173] 18-21D, portions of surgical system 100 are generally depicted. The target site TS is shown schematically, and the target site TS is connected to a work surface WS (e.g., an operating table, The target site TS is shown supported by the acetabular cup. 1 illustrates the intended position of the implantable component 116 upon impaction into the implant. (The intended position is shown in the phantom in Figure 18.) The acetabulum here follows the trajectory T. reamed or otherwise machined to define a first patient tracker -160A is firmly attached to it. As mentioned above, the navigation system The tracked state (e.g., position) of the first patient tracker 160A monitored by 128 The position and / or orientation data, or data based thereon, is transmitted to the manipulator 102 and the eye. It is used to facilitate the maintenance of the target state SA to ensure alignment with the target site TS. This means, for example, that the robot arm 108 of the manipulator 102 can be controlled to move the A second axis A2 defined by the id 208 is aligned with a trajectory T defined by the target site TS. This is done by ensuring consistency with the

[0174] In FIG. 18, mount 148 (represented for purposes of illustration by cover 204, see FIG. 1) 5) and the guide 208 of the tool 104 are connected to the manipulator 102 (partially illustrated). , shown in phantom) is placed adjacent to the target site TS, The axis A2 of the tool is aligned with the trajectory T (so that the tool center point TCP is aligned with the trajectory T). The impactor assembly 210 is positioned between the target site TS and the guide 208. 2. The implantable component 116 is shown spaced apart from the interface 212. The first tool tracker is fixed and positioned along a first axis A1. The second tool tracker 160G is shown secured to the guide 208. 01 is shown rigidly attached to the impactor assembly 210. However, The navigation system 128 then coordinates the position of the trackers within a common coordinate system as described above. 160 states can be tracked, but the state of the tracked object (e.g., tool 104) The pose can be determined in other ways (e.g., based on known geometric relationships) and can be translated between coordinate systems (e.g., For example, it is possible to convert between the manipulator coordinate system MNPL and the localizer coordinate system LCLZ. In other words, the surgical system 100 can use the first tool tracker 160G shown. and / or a first patient without necessarily utilizing a second tool tracker 160I. The change in pose of the tool 104 relative to the tracker 160A can be determined. In particular, the guide 208, the impactor assembly 210, and the implantable component 1 The shape of 16 is known, and flange 216 is inserted into channel 262 (e.g., sensor subassembly). When positioned (via assembly 288), the flange references to the tool center point TCP. This is because the placement of the FRP points can be determined.

[0175] Referring now to FIG. 19A, impactor assembly 210 is configured to impact the implantable component. The first component 116 is located adjacent to the target site TS (here, the reamed acetabulum). The first axis A1 is moved to the initial position, and the first axis A1 is aligned with the second axis A2 defined by the guide 208. The impactor axis is aligned in coaxial alignment with both the trajectory T defined by the target site TS. The impactor assembly 210 is defined by a flange 212 of the impactor assembly 210. 216 is placed in the channel 262 of the guide 208, and the flange reference point FRP is The implantable component 116 is positioned in alignment with the center point TCP. The implant reference point IRP to be determined is determined from the target reference point TRP defined by the target site TS. They are far apart.

[0176] As noted above, when operating in the guided haptic mode or other modes, the surgical system 100 may be configured to interpret the force detected by the input of the sensor 180, which may It is used to drive the robotic arm 108 of the manipulator 102, among other things, The surgeon may touch different parts of the robotic arm 108 and / or tool 104 or otherwise may engage, allowing them to move in a particular direction during certain operating conditions. To illustrate this concept, FIG. 19A shows a surgical procedure in which the surgeon inserts a guide 208 or impactor arm. In addition, the force acting on the guide 208, such as from manually pushing and / or pulling the assembly 210, The force FA applied to the manipulator 1 is shown (details not shown). If 02 is not configured to maintain alignment with orbit T as shown here ( For example, the target state ST is defined to provide a consistent alignment between the second axis A2 and the trajectory T. 19A), the applied force FA shown in FIG. 19A is 19B (via the arm 108) so that the axes A1 and A2 are aligned with the orbit T. Possibility of misalignment (e.g., as shown in Figure 19A) In this hypothetical illustrative example, the surgeon uses an impactor, as shown in Figure 20A. Before and after the operation, the axes A1 and A2 are aligned to coincide with the trajectory T defined by the target site TS. and engages at the target site TS before mating and maintaining matching alignment with the manipulator 102. to adjust or confirm the approach and initial positioning of the implantable component 116. in a manual mode or another mode (e.g., activated via input button 304) to , the robot arm 108 can be operated.

[0177] In the illustrative example shown in FIG. 20A, the manipulator 102 is rotated along a second axis A2 (guide 208) to maintain alignment with the target site T S (e.g., trajectory T (through matching with the impactor assembly 210) The first axis A1 is aligned with the target state ST, which is located along the trajectory T. As shown here, the tool center point TCP is determined by the manipulator 102. Once alignment is maintained, the surgeon applies an impact force FI to the head of the impactor assembly 210. 214, for example, to connect the implantable component 116 to the target site TS. To install, hit the head 214 with a mallet (not shown) repeatedly. As shown in FIG. 1, in response to the appropriate application of an impact force FI to the head 214, the impactor assembly The bridge 210 and the implantable component 116 move together along a trajectory T, The IRP (defined by the implantable component 116) is used as the target reference point. The point TRP (defined by the target site TS) is aligned.

[0178] Here, the manipulator 102 is positioned at the tool center point TCP (channel 26 of the guide 208). 2) is set to the flange reference point FRP (the flange of the impactor assembly 210) The impact of the mallet during impaction is to bring the ball back into alignment with the The guide 208 may be configured to advance along the trajectory T toward the target site TS during the This can be achieved by using the follower subassembly 290 and / or the sensor as described above. via subassembly 288 and / or second tool tracker 160I and first The tool tracker 160G is based on the tracked status of the navigation system 128 The manipulator 102 may be, for example, a axial channel end 262 A, 262B, the flange 216 remains engaged with the channel 262 during impaction. are spaced apart far enough to ensure that The guide 208 cannot be advanced. This is because the surgical system 100 is 4. By using a linear variable differential transformer (LVDT) coil arrangement coupled to , the relative position of the flange 216 along the channel 262 can be determined with high precision. This type of LVDT coil arrangement embodiment has been previously described. "End Effectors, Systems, and Methods" ds For Impacting Prosthetics Guided By S U.S. Patent Application Publication No. US2019 / 0231 entitled "Medical Robots" 446A1. Other configurations are contemplated.

[0179] As noted above, the illustrated embodiment of the tool 104 generally incorporates an interface with the guide 208. Allows translation of the actuator assembly 210 to target the implantable component 116 The tool 104 is configured to facilitate engagement with the site TS. Embodiments also generally involve impingement relative to guide 208 in one or more degrees of freedom. to allow rotation of the motor assembly 210 and / or vice versa. This relative rotation occurs between the first engagement surface 218 and the second engagement surface 270. This is achieved by bearing-type contact (e.g., sliding contact) occurring at The ability of the impactor assembly 210 to rotate and translate relative to the guide 208 may be determined by, for example, During application of the impact force FI, a significant amount of force and / or torque is applied to the impactor assembly 2. 10 to the guide 208 (and therefore the manipulator 102). However, a certain amount of force and / or torque must be applied to the guide 208 and the impactor assembly. Due to the physical contact that occurs between the assembly 210 and the machine, the machine may have one or more degrees of freedom (DOF). This is necessarily converted into a manipulator 102.

[0180] In FIG. 21A, the impactor assembly 210, the guide 208, the implantable component The controller 116 and manipulator 102 are generally arranged in the same manner as shown in FIG. 20A. The second axis A2 (defined by the guide 208) is similarly aligned with the first axis A1 ( impactor assembly 210), and the target site prior to impaction. The target site TS ( For example, through alignment with the trajectory T. However, in FIG. 21A, the impact force The FI is improperly applied to the head 214 of the impactor assembly 210 (e.g., For example, crossing the trajectory T). For example, relatively large size and / or deviation from the orbit T) may result in the implantation of The component 116 is misaligned with the trajectory T (e.g., the first axis A1 and the second axis A2 are misaligned with the trajectory T). result in the target site TS being seated (e.g., partially seated) so that the target site TS does not coincide with the target site T Such a hypothetical scenario is shown in Figure 21B, which is 1 shows an exaggerated misalignment between axes A1, A2 and orbit T.

[0181] In FIG. 21B, as in the scenario described above in connection with FIGS. 14A-14D, trajectory T A virtual "runaway" condition of the surgical system 100 may occur as a result of mismatch with Here, the improper application of the impact force FI causes the first and second axes A1, A2 and the trajectory T to The implantable component 116 is seated at the target site TS in a manner that causes misalignment of the implantable component 116. The target state ST of the tool 104 is, for purposes of illustration in this representative example, The target state ST can be defined in several ways (e.g., by a set of points located along a trajectory T). Including the matching between the second axis A2 and the trajectory T (using the tool center point TCP). However, the tool shown in FIG. The current state SC of the implantable device 104 includes a misalignment between the second axis A2 and the trajectory T. With the component 116 "locked" to the target site TS, the manipulator 10 When a player attempts to move from the current state to the ST of the goal state, a "runaway" state also occurs. The "escape" condition may also occur when the patient tracker 160 becomes loose from the target site TS and This can result in a loss of tracking accuracy.

[0182] In this illustrative example, as shown by comparing Figures 21B-21D consecutively, to the target state ST of the tool 104 (e.g., to return the tool center point TCP to the trajectory T). The movement of the guide 208 also results in a corresponding movement of the target site TS. As described above, the first patient track monitored by the navigation system 128 The trajectory T (and therefore the target state ST) is defined based on the tracking state of the car 160A. In other words, the manipulator 102 moves the tool 104 (e.g., the guide 208) in its current state. When trying to move from state SC to goal state ST (for example, the first and second axes A1 and A2 (such that the target portion TS moves with the tool 104) and the goal state ST is not reached (e.g., simultaneous consistency does not occur). 21C-21D, this ultimately causes the target site TS to be positioned on the work surface. There is a possibility of being "lifted" from WS.

[0183] As noted above, various techniques are available for detecting and / or responding to "runaway" conditions that occur. It is contemplated by the present disclosure that the implantable component 116 and the target site TS (e.g., 18-21D). A tool with a fixture 112 such as a guide 208 for supporting the compactor assembly 210. For surgical systems 100 utilizing the powered surgical device 150, Which (e.g., as described above in connection with Figures 12-14D) target site TS and energy A tool 104 is provided with an implement 112 to facilitate engagement with a ghee applicator 114. For this purpose, the controller 124 may be determined based on one or more predetermined conditions, as described above and in more detail below. one for a condition PR (e.g., a first predetermined condition PR1, a second predetermined condition PR2, etc.) or multiple system conditions SYC (e.g., as sensed by sensing system 206) By monitoring the circumstance, it is possible to detect a "runaway" state.

[0184] The sensing system 206 detects the tool 104, the manipulator, and the associated with one or more of the target site TS, the target site TS, or a combination thereof. It is configured to detect one or more system conditions SYC. The sensing system 206 senses one or more system conditions SYC associated with the tool 104, One or more system conditions SYC and / or objectives associated with the manipulator 102 One or more system conditions SYC associated with the target site TS can be detected. For this purpose, in some embodiments, the sensing system 206 detects the target site TS and the manipulator. A sensor 180 may be provided to detect the force FD generated between the actuator 102. For example, the tracking of the force FD detected by the sensor 180 is described in more detail below. As will be explained, the control of the movement of the manipulator 102 between the first and second modes M1, M2 is Defines the system conditions SYC used by the controller 124 to facilitate changes. In some embodiments, the sensing system 206 may be configured to one or more components of the system 128 (e.g., the localizer 158) and / or may comprise one or more trackers 160. Here, for example, localizer 158 The tracking state of tracker 160, as monitored by Facilitating changing the operation of the manipulator 102 between the first and second modes M1, M2 A system condition SYC can be defined that is used by the controller 124 to Again, as noted above, one or more components of the surgical system 100 may be or the placement of the tool 104 in multiple coordinate systems (e.g., in the localizer coordinate system LCLZ) The tool center point (TCP pose) can be determined (directly or indirectly). , the placement of the tool 104, as well as changes to the placement of the tool 104 (e.g., one or more The movement of the tracker 160 relative to the first and second The controller is used to easily change the operation of the manipulator 102 between the modes M1 and M2. It is possible to specify the system conditions SYC used by the controller. In an embodiment, the sensing system 206 or the sensor 180 may additionally or alternatively include a joint a sensor configured to detect current from any one or more of the actuators of the sensor J; Sensor 180, joint J or joint actuator a sensor that detects the applied torque or torques, or any one or more Detect any other external (such as backdrive) forces or torques applied to joint J. An example of a method for calculating the backdrive force to a joint is Robotic System and Method for Backdrivin The same is described in U.S. Patent No. 10,327,849 entitled "The Same" , which is incorporated herein by reference. Current measurements taken by the sensor 180 at the actuator are converted into force or torque measurements. This can be projected onto the target site TS with which the tool 104 is interacting. In some instances, these force torque measurements taken from the joints can be and detecting the force and / or torque occurring between the manipulator 102 and the target site TS. Measurements from a six degree of freedom (DOF) force / torque transducer positioned to and compare it with status data about the patient or tool acquired by the system. The sensing system 206 may include, by way of non-limiting example, one or more instruments 112, joints encoder 122, controllers 124, 132, 134, 136, input device 14 6, output device 144, user interface 142, power generation assembly 152, point 156, a localizer 158, a tracker 160, a video camera 170, etc. The various components of the surgical system 100 may include (or otherwise communicate with) Other configurations are contemplated.

[0185] The system conditions SYC may be configured to control the different components of the surgical system 100 and / or the target site T This can be specified in several different ways, including based on the relationship between S and For example, the pose of the first patient tracker 160A (e.g., in the localizer coordinate system LCLZ) ) and the pose of the tool center point TCP of the tool 104 (e.g., localizer coordinate system LCLZ) are transformed or tracked into the respective system conditions SY C, and the pose of the first patient tracker 160A together with the pose of the tool center point TCP. Simultaneous movement of the SYC can define different system conditions. In the disclosure, one of the tool 104, the manipulator 102, and / or the target site TS can be defined in various ways based on one or more and / or changes occurring between them. Several different system conditions SYC are contemplated.

[0186] Referring now to FIG. 22A, as described above, the controller 124 controls the first mode M 1, the manipulator 102 is operated to move the target part TS based on the first constraint criterion C1. and operate the manipulator 102 in a second mode M2. In addition, based on a second constraint criterion C2 different from the first constraint criterion C1, a target portion TS is To this end, several In this embodiment, the difference between the first constraint criterion C1 and the second constraint criterion C2 is the target site TS a degree of freedom (DOF) to which the movement of the tool 104 relative to the object is restricted (or permitted), and one Based on how this affects movement in the above degrees of freedom (see also Figure 25), This concept is explained in more detail below in connection with Figures 24A-24C. However, for purposes of illustration, FIG. 22A shows a robotic arm first engaging a target site TS supported on a work surface WS. The impactor assembly 21 is secured to the implantable component 116. A manipulator supporting an implement 112 of the tool 104 (here, a guide 208) spaced apart from the 102, the tool center point TCP of the tool 104 and the target point TS of the target part Each of the reference points TRP and each of the six degrees of freedom DOFs expressed in Cartesian form is shown.

[0187] More specifically, the tool center point TCP and the target reference point TRP are each in a common coordinate system (e.g., in the localizer coordinate system LCLZ or another appropriate coordinate system), each x Position XP degree of freedom DOF, y position YP degree of freedom DOF, z position ZP degree of freedom DOF, x direction ZO The degrees of freedom DOF are defined as follows: y-direction YO degrees of freedom DOF; and z-direction ZO degrees of freedom DOF. , the tool center point TCP is "fixed" relative to the tool 104 and the controller 1 24 (e.g., the coupling of the tool 104 and the manipulator 102) Similarly, the target reference point TRP is located at the target site T S and is known by the controller 124 (e.g., A first patient traction is attached to the target site TS and defined by reaming the acetabulum. (Based on the tracking state of Tracker 160A.) For the sake of explanation, the tool center point TCP and the target reference The point TRP is shown in a coordinate system in Figures 22A to 24C, with the x, y, and z axes representing the two axes. Degrees of freedom (DOF), i.e., translation of the coordinate system along an axis in a certain direction and In FIG. 22A, for purposes of illustration, the tool center point TCP represents the rotation of the coordinate system in the direction is positioned so that its z-axis is parallel to the trajectory T and its x-axis crosses the trajectory T, and the target reference point T The RP is positioned so that its z-axis coincides with the trajectory T.

[0188] In some embodiments, the first constraint criterion C1 is a constraint that the movement of the tool 104 is The second constraint criterion C2 may include a first number N1 of degrees of freedom DOF that are constrained to The second number N2 of degrees of freedom DOF are included such that the movement of the target region TS is restricted. It can be seen that the degrees of freedom DOF of the second number N2 are different from the degrees of freedom DOF of the first number N1. Thus, in some embodiments, the controller 124 may, in the first mode M1, maintaining alignment of the tool 104 relative to the target region TS based on a number N1 of degrees of freedom DOF; In a second mode M2, the target location T is determined based on a (different) second number N2 of degrees of freedom DOF. to operate the manipulator 102 to maintain alignment of the tool 104 with respect to S. It can be configured as follows.

[0189] Here, the first number N1 is an “active state” that defines the target state ST in the first mode M1. The second number N2 can represent the number of “active” degrees of freedom DOF, and the second number N2 represents the target state of the second mode M2. It is possible to express the number of "active" degrees of freedom (DOF) that define the state ST. The stem 206 detects the force FD generated between the target part TS and the manipulator 102. In some embodiments, when a sensor 180 is provided to define the system conditions SYC, The controller 124 then controls the manipulator 102 to operate in the first mode M1. A total of six degrees of freedom (DOF) (e.g., x-position XP, y-position YP, z-position ZP, x-direction XO) , y-direction YO, and z-direction ZO), a target state ST can be defined. As soon as the force FD detected by the sensor 180 satisfies a predetermined condition PR, the three degrees of freedom D Based on OF (e.g., x-direction XO, y-direction YO, and z-direction ZO), a second mode M 2 shows how the target state ST is defined to operate the manipulator 102. The predetermined condition PR can be automatically changed. the applied force FD (e.g., force and / or torque in one or more degrees of freedom DOF) This can be defined as the time when the implantable component 116 is The potential "escape" is determined by the fact that the patient P is "anchored" to the anatomy of the patient. A condition is indicated, which causes the controller 124 to apply the second mode M2 ​​to the target site TS. the position of the tool center point TCP relative to the axis (e.g., x-position XP, y-position YP, and z-position ZP) This effectively changes the target state ST so that it no longer holds.

[0190] Thus, in some embodiments, the controller 124 controls the manipulator 102 By operating in the first mode M1, a first constraint criterion C1 (e.g., a target direction OT and a target position and a first number N1 of degrees of freedom DOF. Based on this, the movement of the tool center point TCP away from the target part TS (or trajectory T) is limited. , the manipulator 102 is operated in a second mode M2 ​​to satisfy a second constraint criterion C1 (e.g., , and defines the target state ST based on the target direction OT, but not based on the target position PT) Therefore, also based on a (different) second number N2 of degrees of freedom DOF, This illustrative example can be configured to allow movement of the tool center point TCP. As will be described in more detail below in connection with FIGS. 24A-24C, other configurations are contemplated and may be The change between modes based on the satisfaction of the condition PR is determined via the sensing system 206. This can happen in several different ways based on the various system conditions SYC is in.

[0191] In one embodiment, the second number N2 of degrees of freedom DOF is greater than the first number N1 of degrees of freedom DOF. As a result, the controller 124 can operate in the second mode M2 ​​in a manner similar to that of the first mode M. and allowing movement of the tool 104 relative to the target region TS in at least one degree of freedom greater than one. Again, in some embodiments, the first constraint criterion C1 and the second constraint criterion C2 are C2 each has at least one degree of freedom DOF (e.g., X in the x direction, Y in the y direction) The first constraint criterion C1 may be larger than the second constraint criterion C2. at least one more positional degree of freedom DOF (e.g., x-position XP, y-position YP, and / or and both the first constraint criterion C1 and the second constraint criterion C2 may include at least one of the following: At least one common degree of freedom (DOF) (e.g., x-direction XO, y-direction YO, and / or z-direction Furthermore, in some embodiments, the first constraint criterion C1 may include at least Each has one positional degree of freedom (DOF) (e.g., x-position XP, y-position YP, and / or z-position Z P) and at least one directional degree of freedom DOF (e.g., x-direction XO, y-direction YO, and / or or z-direction (ZO). However, as will be seen below, other configurations are possible. The first criterion C1 and / or the second constraint criterion C2 are implemented, for example, at the target site TS. Depending on the type of surgical procedure being performed, the tool 104 (and / or energy application the particular arrangement and configuration of the implantable component 114 or implantable component 116, How the manipulator 102 is positioned relative to the target site TS, etc. This can be specified in several different ways.

[0192] In some embodiments, the first constraint criterion C1 includes a first elasticity parameter R1. The second constraint criterion C2 is a second elasticity parameter R1 different from the first elasticity parameter R1. Thus, in some embodiments, the controller 124 may include the first In the first mode M1, the tool is moved relative to the target site TS based on the first elasticity parameter R1. In the second mode M2, the second spring 104 is operated to maintain the alignment of the spring 104. The force parameter R2 is used to maintain alignment of the tool 104 with respect to the target region TS. The manipulator 102 may be configured to operate in accordance with the first elasticity parameter. The parameter R1 is the adjustment parameter of one or more guide constraints GC that define the first mode M1. represents the parameter TPA (e.g., spring parameter PS and / or damping parameter PD) or If not, it can be made to correspond to it, and the second elasticity parameter R2 is One or more guiding constraints that define the GC tuning parameters TPA (e.g., the parameter PS and / or the damping parameter PD) or otherwise As will be understood from the following description, the first constraint criterion C1 and The second constraint criterion C2 may be configured or defined in several different ways, for example: For example, by way of non-limiting example, a device may operate in either a first mode M1 or a second mode M2. During this process, elasticity parameters are specified for each "active" degree of freedom (DOF). In other words, the first constraint criterion C1 contains three "active" degrees of freedom DOF. Each of them has a first elasticity parameter, which may be the same as each other. It may be different, and other configurations are contemplated.

[0193] In some embodiments, the controller 124 may be configured to select the second mode M1 over the first mode M2. In step M2, the tool 104 is moved in a more flexible manner relative to the target site TS. In other words, the second elasticity parameter R2 can be configured to be a value smaller than the first elasticity parameter R2. The first mode M1 is more noticeable than the second mode M2. Deviation from the target state ST may be more difficult, but other configurations are contemplated. In some embodiments, the first elasticity parameter R1 and the second elasticity parameter R2 each represents the position of tool 1 relative to target part TS in at least one common degree of freedom DOF. 04 is related to resilient movement (e.g., x position XP, y position YP, z position In the x-direction (ZP), the x-direction (XO), the y-direction (YO), or the z-direction (ZO). The ZO degree of freedom DOF in the z direction is "active" and has the first and second elastic parameters R 1, R2 are respectively associated with the z-direction ZO degrees of freedom DOF, and the first constraint criterion C1 and the second constraint criterion C2.

[0194] In some embodiments, the first constraint criterion C1, the second constraint criterion C2, and / or the given The predetermined condition PR is adjustable by the user, such as via the user interface 142. and / or may be configurable. For this purpose, a threshold control 314 (see FIG. 2 ) may be used. 25) to make it easier to adjust how a given condition PR is defined. For example, the threshold control 314 may be configured to The amount of force FD detected by the sensor 180 (e.g., system condition SYC) is expressed as For example, the controller 124 may be configured as an input device 146 to change Before changing from the first mode M1 to the second mode M2, more or less force F D to require that it be sensed (e.g., force and / or torque in a particular direction). As a further example, the threshold control 314 may determine whether the tool 10 is The time that the target site TS moves together with the target site TS (for example, via the navigation system 128) 146 to change the input signal (as determined by the , before the controller 124 changes from the first mode M1 to the second mode M2, The above examples are illustrative and not This is by no means exhaustive and other configurations are contemplated.

[0195] In some embodiments, the stiffness control 316 (see FIG. 2, see also FIG. 25) is a first control. How is the about criterion C1 (or, in some embodiments, the second constraint criterion C2) defined? By way of example, a stiffness control 316 may be provided to facilitate adjusting the amount of stiffness that is applied to the , to define a first mode M1 (e.g., to facilitate maintaining the target state ST) One or more guide constraints used to tune the GC, TPA and / or configuration parameters. The input device 146 may be configured to change the parameter CPA, for example, The elasticity parameter R1 is increased or decreased so that the manipulator 102 moves to the target state ST resulting in a corresponding change in the degree to which movement from the Again, the above examples are illustrative and non-limiting. and other configurations are contemplated.

[0196] In other implementations, the first constraint criterion C1 or the second constraint criterion C2 is determined by the sensing system or or may be dynamically determined or adjusted based on measurements from sensors 180. The roller can, for example, use a look-up table stored in memory to determine the sensed The magnitude or value of the measurement can be correlated to the stiffness value. It can be implemented using a threshold or without a threshold.

[0197] In some embodiments, the surgical system 100 also includes a first A control signal that signals a change of operation from mode M1 to a second mode M2 ​​(or between other modes). 25) coupled to the roller 124. Here, the mode indicator 318 forms part of the user interface 142. (e.g. alarm, speaker, indicator light, part of the display screen) , and / or another type of output device 144), the controller 124 may Or, it is determined that at least one of the plurality of system conditions SYC satisfies a predetermined condition PR. In response to the setting, the mode indicator 318 may be configured to be activated. This can be done.

[0198] As noted above, FIG. 22A illustrates a robotic arm initially engaging a target site TS supported on a work surface WS. Impactor assembly 210 secured to deployed implantable component 116 A manipulator supporting an instrument 112 of the tool 104 (here, a guide 208) spaced from the The tool 104 has a tool center point TCP and a target point TS. The quasi-points TRP and TRP are spaced apart from each other. Comparing FIG. 22A with FIG. 22B shows that the x-position X Tool 10 in P degrees of freedom DOF (e.g., along the x-axis of the tool center point TCP) 4 movement, which causes the shaft 224 of the impactor assembly 210 to The tool passes through the opening 268 of the tool 208 and enters the channel 262, and the tool center point TCP is moved along the trajectory T (and also on the z-axis of the target reference point TRP).

[0199] Comparing FIG. 22B with FIG. 22C shows that the z-position ZP degree of freedom DOF (e.g., tool center 104 in a direction along the z-axis of the point TCP, thereby The flange 216 of the actuator assembly 210 is disposed within the channel 262 of the guide 208. The first engagement surface 218 is adjacent to the second engagement surface 270, and the tool center point TCP is adjacent to the flange. It is positioned coincident with the reference point FRP and still aligned along the trajectory T.

[0200] In some embodiments, the controller 124 controls the manipulator in the second mode M2. 102 to move the target part in at least one degree of freedom (DOF) according to a second constraint criterion C2. The tool 104 may be configured to allow movement of the tool 104 relative to the position TS. In this embodiment, the controller 124 operates the manipulator 102 in the first mode M1. and operate the robot with respect to the target part TS with at least one degree of freedom DOF according to the first constraint criterion C1. 22C. Comparing with Figure 23 shows that the ZO degree of freedom (DOF) in the z direction (e.g., the z 2 shows the movement of the tool 104 in a direction (direction around the axis) so that the guide 208 From the arrangement shown in Figure 22C (shown as a phantom outline in Figure 23), The tool 104 moves relative to the actuator assembly 210 and the target site TS, but The tool center point TCP remains aligned with the flange reference point FRP, and similarly It is placed along the track T.

[0201] In other words, the movement of the tool 104 shown by comparing FIGS. , the first constraint criterion C1 is the five active degrees of freedom DOF (e.g., x position XP, y position position YP, z-position ZP, x-direction XO, and y-direction YO), and one degree of freedom DOF (e.g., Movement in the Z direction (ZO) is permitted, and the target state ST is defined while operating in the first mode M1. This configuration allows, for example, a user to determine the trajectory T (e.g., impactor assembly 21 0 (the distance between the strikes of the mallet on the head 214) 2 (e.g., wherever the guide 208 is placed by the user) Based on this, for different configurations that are maintained (by redefining the target state ST), , can be implemented to "rotate"

[0202] However, the first constraint criterion C1 is that the target state There are several different ways to configure the ST. For example, Based on "rotating" the guide 208 around the trajectory T, the manipulator 102 The user guides the first mode M1 around the trajectory T to redefine the target state ST. Rather than allowing the orientation of 08 to be adjusted, the first constraint criterion C1 is instead set to 6 While all four degrees of freedom (DOF) define the target state ST, one or more of them are more important than the others. Allows for elastic movement (i.e., less "stiff" movement) in a number of degrees of freedom DOF As an illustrative example, the arrangement shown in FIG. 22C may be configured such that the first The target state ST in mode M1 can be expressed as follows: The first elasticity parameter R1 associated with the degree of freedom DOF has a relatively "weak" value. The value is determined by the user moving the guide 208 around the trajectory T as shown in FIG. 'rotate' the tool 104 to the target state ST In this example, the placement of the tool 104 shown in FIG. The target state is shown as a phantom outline (see also Figure 22C). see).

[0203] 24A-24C, in some embodiments, the controller 124 is determined by a third constraint criterion C3 that is different from both the first constraint criterion C1 and the second constraint criterion C2. Therefore, in the third mode M3, the alignment of the tool 104 with the target portion TS is maintained. It may be further configured to operate the manipulator 102. Here, in this embodiment , the controller 124 determines whether at least one of the one or more system conditions SYS is a first In response to determining that the predetermined condition PR1 is satisfied, the operation of the manipulator 102 is controlled. Change from a first mode M1 to a second mode M2 ​​to change one or more system conditions SY At least one of S satisfies a second predetermined condition PR2 that is different from the first predetermined condition PR1. In response to determining that the manipulator 102 is in the third mode, the operation of the manipulator 102 is changed from the second mode M2 ​​to the third mode M3. In this exemplary embodiment, the first mode M2 ​​is changed to the second mode M3. The constraint criterion C1 is a first number N of constraints by which the movement of the tool 104 is limited relative to the target site TS. The second constraint criterion C2 includes one degree of freedom DOF, and the second constraint criterion C2 is a constraint that the movement of the tool 104 is limited to the target portion TS. The third constraint criterion C3 includes a second number N2 of degrees of freedom DOF that are constrained to the tool 1. The third number N3 of degrees of freedom DOF are constrained in motion relative to the target region TS. Additionally, in this illustrative embodiment, the first constraint criterion C1 also defines a first elasticity parameter R 1, the second constraint criterion C2 also includes a second elasticity parameter R2, and the third constraint The criterion C3 also includes a third elasticity parameter R3.

[0204] Therefore, in the exemplary embodiment shown in connection with FIGS. 24A-24C, the controller The controller 124 operates the manipulator 102 to perform a first number N1 of movements in the first mode M1. Based on the degrees of freedom DOF and based on the first elasticity parameter R1, and in a second mode M2, a second number N2 of degrees of freedom DOFs are maintained. and based on the second elasticity parameter R2, the tool 1 relative to the target site TS is 04, and in the third mode M3, based on the third number N3 degrees of freedom DOF, Also, based on the third elasticity parameter R3, the alignment of the tool 104 with respect to the target portion TS is determined. wherein the third number N3 of degrees of freedom DOF is one or more of the first number N1 of degrees of freedom DOF and the second number N2 of degrees of freedom DOF. More specifically, in this embodiment, the third number N3 of degrees of freedom DOF is equal to the first number N1 As a result, the controller 124 controls the rotational speed of the actuator 122 in the third mode M3. In the first mode M1, the degree of freedom DOF is at least one more than that of the first mode M2. Similarly, in this embodiment, a third number of degrees of freedom (DOF) are provided. is less than the second number N2 of degrees of freedom DOF, so that the controller 124 In the first mode M3, there is at least one more degree of freedom DOF than in the second mode M2. This allows movement of the tool 104 relative to the target site TS.

[0205] More specifically, in this exemplary embodiment, the first number N1 of degrees of freedom DOF is a second The number N2 of degrees of freedom DOF is equal to the number N3 of degrees of freedom DOF. However, other configurations are contemplated. Here, in this embodiment, the first constraint criterion C1 The difference between the first and second constraint criteria C1 and C2 is "active" in the first and second modes M1 and M2. As will be explained in more detail below, instead of the first and second number N1, N2 of degrees of freedom DOFs based on first and second elasticity parameters R1, R2.

[0206] In some embodiments, such as those shown in connection with FIGS. 24A-24C The first constraint criterion C1 and the second constraint criterion C2 each include at least one position. degrees of freedom (e.g., x-position XP, y-position YP, and / or z-position ZP) and at least Each of the degrees of freedom (DOF) in one direction (e.g., x-direction XO, y-direction YO, and / or z-direction Z) O), each of the first constraint criterion C1, the second constraint criterion C2, and the third constraint criterion C3 has at least one directional degree of freedom (e.g., x-direction XO, y-direction YO, and / or z-direction Here, the first constraint criterion C1 and the second constraint criterion C2 are respectively It includes at least one more positional degree of freedom DOF than the constraint criteria C3 of 3. However, other configurations is intended.

[0207] As mentioned above, in the exemplary embodiment shown in FIGS. 24A-24C, the first constraint criterion C The difference between C1 and the second constraint criterion C2 is "active" in the first and second modes M1 and M2. The first and second elastic parameters are used instead of the first and second numbers N1 and N2 of degrees of freedom DOF. The third elasticity parameter R3 is based on the first elasticity parameter R1 and R2. and one or more of the second elasticity parameter R1 and the second elasticity parameter R2, which are Also, in this embodiment, they differ from each other. More specifically, as explained in more detail below, The controller 124 then adjusts the target area in the second mode M2 ​​more than in the first mode M1. More resilient movement of the tool 104 relative to the position TS (e.g., less "rigid" movement) This allows for a greater impact on the target site TS in the second mode M2 ​​than in the third mode M3. This allows for more resilient movement (e.g., less "stiff" movement) of the tool 104. Again, the above are intended to be non-limiting examples and are not intended to be limiting of the scope of the surgical system 100. Other configurations are contemplated.

[0208] In FIG. 24A, the controller 124 controls the manipulator 1 according to the first constraint criterion C1. 02 is operated in a first mode M1, and in this exemplary embodiment, the tool 104 , as shown in the figure, are arranged so that the alignment coincides with the orbit T of the axes A1 and A2 as described above. For this purpose, the first constraint criterion C1 is defined as The first number N1 of OF and the first elasticity parameter R1 are both included. For the target, the first number N1 is the six "active" degrees of freedom DOF, i.e. the x-position XP , y position YP, z position ZP, x direction XO, y direction YO, and z direction ZO. In this illustrative example, the first elasticity parameter R1 is, for example, a spring parameter PS of 6. The DOFs are set relatively high to resist movement in each of the four active degrees of freedom. The relatively "hard" tactile sensation is specified by the tuning parameter TPA of the guide constraint GC. ", the tool 104 is set to be maintained at the target state ST.

[0209] With continued reference to FIG. 24A, the impact force FI is applied to the head of the impactor assembly 210. It has been shown that the track 214 is improperly attached (e.g., crossing the track T). Therefore, improper application of the impact force FI (e.g., relatively large and / or out of sync with the trajectory T) The implantable component 116 is positioned at the target site TS in a manner offset from the trajectory T. This can result in partial seating, which for the purposes of illustration is shown by the axes A1, A2 and the orbit T This is shown in FIG. 24B, with an exaggerated misalignment between At B, the sensor 180 detects the target state ST (shown here as a phantom outline). ) resulting from the deviation of the illustrated current state SC from the target site TS and the manipulator 10 2, and the sensor 180 functions as part of the sensing system 206. In this scenario, the tool 104 detects the system condition SYC (e.g., force FD). Continue moving the manipulator 102 to return to state ST (e.g., tool center point TC By returning P to the trajectory T, the force FD satisfies a first predetermined condition PR1. In response to the sensor 180 detecting the presence of the ion beam, the controller 124 selects the first mode. M1 to a second mode M2, which in this embodiment is determined by the sensor 180. The first force F1 to be detected (e.g., in one or more degrees of freedom DOF) is defined as Therefore, FIG. 24B shows the first constraint criterion C2. 10 shows the operation of the manipulator 102 in mode M2 ​​of FIG.

[0210] In FIG. 24B, the controller 124 controls the second mode M2 ​​according to the second constraint criterion C2. The manipulator 102 is operated in the above manner, and the target state ST is the arrangement shown in FIG. 24A. Thus, it is still defined (shown as the outline of the phantom in FIG. 24B). The second constraint criterion C2 is the number N2 of second degrees of freedom DOF and the second elasticity parameter R For the purposes of this illustrative example, the second number N2 includes six "active" degree of freedom DOF, i.e. x position XP, y position YP, z position ZP, x direction XO, y direction YO, and In this illustrative example, however, the second elasticity parameter R2 is defined by the tuning parameter TPA of the guide constraint GC. , a relatively "loose tactile sensation" (e.g., the second elasticity parameter R2 is The spring R1 is set to urge the target state ST. The parameter PS is set relatively low, and each of the six active degrees of freedom (DOF) This allows for a certain amount of elastic movement. In this configuration, the manipulator 102 The tool is still trying to return to the target state ST (for example, returning the tool center point TCP to the trajectory T). The "loose tactile sensation" provided by the second constraint criterion C2 is Allowing a specific amount of deviation from T to occur, thereby Prevents a "runaway" condition when the target TS is partially seated while the target TS is displaced; The target site TS remains supported on the work surface WS.

[0211] Continuing to refer to FIG. 24B, a further impact force FI is applied to the impactor assembly 21 0 head 214 (e.g., crossing the trajectory T) Here, improper application of the impact force FI (e.g., relatively large and / or trajectory T The fact that the implantable component 116 is misaligned with the trajectory T still This may result in further seating at the target site TS in a controlled manner, which is for illustrative purposes only. , with an exaggerated misalignment between axes A1, A2 and trajectory T, as shown in FIG. 24C. Now, in FIG. 24C, the sensor 180 also detects the target state ST (here, the end of the trajectory T). The target site TS resulting from further deviation of the illustrated current state SC from the target site TS (shown as a point) The force FD between the tool and the manipulator 102 is detected. Continue moving the manipulator 102 (e.g., Instead of returning the ball center point TCP to the trajectory T, the force FD is In response to detection by sensor 180 of PR2 being met, controller 124 , change from the second mode M2 ​​to the third mode M3, which is 180 (e.g., one or more free forces) Force and / or torque in degrees DOF), the second force F2 is greater than the first force F1. In some embodiments, the second force F2 may be applied to a portion of the tissue that would otherwise be partially or completely "desorbed." Engagement with a potential implantable component 116 that may be an implantable component 116 the amount of force and / or torque acting on the target site TS in one or more directions via It may also be small.

[0212] In FIG. 24C, the controller 124 controls the third mode M3 according to the third constraint criterion C3. The manipulator 102 is operated in the state shown in FIG. 24A. (shown in FIG. 24C as the end point of trajectory T). The criterion C3 includes the number N3 of the third degrees of freedom DOF and the third elasticity parameter R3. For purposes of the illustrative example, the third number N3 represents the three "active" degrees of freedom DOF, That is, the x-direction XO, the y-direction YO, and the z-direction ZO. In other words, the third constraint criterion C According to 3, the positional degree of freedom DOF is not activated. Here, in this illustrative example , the third elasticity parameter R3, for example, the spring parameter PS is three active self Guide constraints that are set relatively high to resist motion in each DOF The tool 104 has a relatively "hard feel" as defined by the GC adjustment parameter TPA. is set to be driven towards the target state ST. Here, the tool 104 is at a position The manipulator is urged towards the goal state ST based on the direction, not the position. The tool 102 is still trying to return to the target state ST (e.g., tool center point TCP) (by directing the stimulator to the target site TS), the lack of an active positional degree of freedom (DOF) If the readable component 116 is further seated in the target site TS while misaligned, and the target part TS is similarly supported on the work surface WS. The surgeon or another user may then select one or more via a mode indicator 318 that may form part of the user interface 142 , may be alerted to a change to the third mode M3. When the 124 switches from the first mode M1 to the second mode M2, a "low level" alarm (e.g., sounds played through speakers, warnings displayed by flashing lights, or can generate a warning (such as a graphic displayed on the screen) to alert the user, The controller 124 changes from the second mode M2 ​​to the third mode M2 ​​(or from the first mode M1 to the When switching from the first mode to the third mode M3, a different or "high level" Alerts can be generated in a variety of ways that are distinct enough to be distinguished from one another. Can be specified by law (e.g. one visual and one auditory, or a combination) As noted above, the mode indicator 318 may be available in several different styles, types, and and / or configuration.

[0213] The exemplary embodiment described above in connection with FIGS. 24A-24C uses three constraint criteria C1, C2, C3, using three modes M1, M2, M3 and two predetermined conditions PR1, PR2 However, similar functionality exists in some embodiments with two modes and one predetermined condition PR. As a non-limiting example, the sensor 180 may be utilized to provide a predetermined condition P R is the detected force FD (e.g., force in one or more degrees of freedom DOF and / or When monitoring the system condition SYC, which is defined as the torque, the controller 124 , the first mode M1 (e.g., to maintain six degrees of freedom DOF according to the first constraint criterion C1) ) to the second mode M2 ​​(e.g., only the directional degree of freedom DOF according to the second constraint criterion C2) When the controller 124 is configured to switch to the first The manipulator 102 is operated in the mode M1 of the first mode, and the As the force FD increases towards the predetermined condition PR, the target part The tool 104 may be configured to resist movement of the tool 104 relative to the position TS. 24B shows a different mode of operation than that shown in FIG. 24A. Instead, the first constraint criterion C1 is the same mode ( For example, it can represent part of the first mode M1), which can be, for example, the detected force The force FD satisfies a predetermined condition PR (e.g., the force FD is greater than the second force described above in connection with FIG. 24C). is defined as a function of the force FD detected by the sensor 180 (exceeding F2) However, the preceding examples are illustrative and non-limiting, and other configurations are contemplated.

[0214] To facilitate changing between modes (e.g., a first mode M1 and a second mode M2) In embodiments utilizing sensor 180 as part of sensing system 206, sensor 180 is the relationship between the manipulator 102 and the target part TS in one or more degrees of freedom DOF. configured to detect a force FD (e.g., force and / or torque) occurring between the It may be further defined as a force torque sensor 180. To this end, and as shown in FIGS. As generally shown in FIG. 5, the sensor 180 may be coupled to the robotic arm 108. However, the sensor 180 may be Any suitable method sufficient to detect the force FD generated between the sensor 102 and the target site TS. and several different types, without departing from the scope of this disclosure. As a non-limiting example, the sensor 180 may be a coupling 110, as part of the robot arm 108 (e.g., at one of the joints disposed thereon) and / or as part of the tool 104 (e.g., the instrument 112 and / or may be implemented in the implantable component 116. Similarly, the sensor 180 may be implemented in the , may be disposed on the mount 148 and / or the body 260 of the guide 208. In particular, the exemplary embodiment shown herein includes a single Although directed to multiple degree of freedom DOF force torque transducers, the sensor 180 may also be multiple It may be realized by components, located in the same place or in different places (e.g., one the guide 208 and the coupling 110), which connect the target site TS and the robot. The other configurations cooperate to facilitate detection of the force FD generated between the arm 108 and the sensor. It is planned.

[0215] In some embodiments, a predetermined condition PR (e.g., a first force F1, a second force F2, or The amount of force FD detected by the sensor 180 that satisfies the force (or other value) is Represents or is based on the amount of torque (or force) being applied to the component 116 Now, using known properties of the tool 104 and the implantable component 116, The force / torque at the sensor 180 is compared to the force / torque applied at the implantable component 116. The stiffness from the sensor 180 to the implantable component 116 can be related to The field Jacobian is calculated using FIMPLANT=JSENSOR_TO_IMPLANT-T *The force FD detected by the sensor 180 can be calculated according to the FSENSOR. The given conditions PR can be specified in several different ways, depending on the application and / or In some embodiments, the implantable component 116 The type, style, size, or other parameters are determined by one or more predetermined conditions. where, for example, a relatively "large" implant The implantable component 116 is relatively "small" compared to the implantable component 116. and different amounts of torque (also may require a specific parameter (e.g., force) of a predetermined condition PR based on the sensor 180. For example, the magnitude of forces and / or torques in one or more degrees of freedom (DOF) It can be determined in other ways, including by execution. For example, impact In determining the baseline force at which the translational constraints of the acetabulum assembly 210 begin to be released, The lever-out torque was analyzed for the cup. The firmly fixed cup 116 By knowing the approximate torque at which movement or disengagement is likely to occur, While avoiding the lever out of the cup by releasing the constraints in the cup or range, The accuracy of placement can be optimized. The lever-out strength of the cup 116 is about 5 to 2. In the 5 Nm range, the force limits of the impaction assembly 210 are limited by the various cup fixations. 20N to 100N (from the end effector attachment) to accommodate various scenarios (assuming a lever arm of 0.25 m from the center of the cup) In this configuration, the amount of force FD required to meet the specified condition PR per laboratory evaluation is approximately 64 N (approximately 16Nm lever out torque). However, depending on the type of cup, press-fit, test method, and Other values ​​or ranges of values ​​are contemplated or possible depending on the material and the temperature. The amount of force FD that satisfies the condition PR is 58-66N, 50-70N, or 40-80N. or any value between these ranges.

[0216] In some embodiments, the threshold control 314 (and / or stiffness control 316) may be subjective. It may be manually adjusted by the user during surgery based on considerations, observations, etc. (e.g., user Depending on your preferences, certain conditions may be adjusted higher or lower. In some embodiments, the predetermined conditions PR may include patient-specific data (e.g., height, weight, age, The data can be based on the patient's physical condition (e.g., bone mineral density, body mass index, BMI, etc.) and can be displayed in the user interface. The input may be made using the input device 146 of the interface 142. In this state, the predetermined conditions PR are defined as "System and Method of Control olling a Robotic System for Manipulating Anatomy of a Patient During a Surgical The method is described in U.S. Patent Application Publication No. 2015 / 0094736A1 entitled "Method for Producing a High-Performance, High-Performance, and High-Performance Materials," which is incorporated herein by reference. This can be done at least in part intraoperatively, using a "wiggle test" similar to that described in The disclosure of which is incorporated herein by reference in its entirety. The following configurations are contemplated.

[0217] In other implementations, the first constraint criterion C1 or the second constraint criterion C2 is determined by the sensing system or or may be dynamically determined or adjusted based on measurements from sensors 180. The roller can then use a look-up table stored in memory to determine the detected The magnitude or value of the measurement can be related to the stiffness value. It can be implemented using or without a threshold.

[0218] As described above, the first mode and the second mode M1, M2 (and / or other modes) The functionality provided by the surgical system 100 in switching between sensors 180 and may be performed using (and / or in addition to) other components of the sensing system 206. As a non-limiting example, and again referring to FIGS. 24A-24C, localizer 1 58 and one or more trackers 160 (e.g., first patient tracker 160A and and a second tool tracker 160I) to perform an in-processing in a manner that satisfies a predetermined condition PR. Monitor system conditions SYC, such as the simultaneous movement of the target site TS with the actuator assembly 210. Here, a movement that satisfies one or more predetermined conditions PR can be and direction, for example, impactor assembly 21 0 is "fixed" to the target site TS having a misalignment between the first axis A1 and the trajectory T. The target area TS is lifted from the work surface WS or is not intended to be The detection system can be based on motion that suggests the object is moving in a direction that is not suitable for the object. The combination of components of the stem 206 is used to change between modes M1 and M2. Satisfying a given condition PR may be based on system conditions SYC of the same or different type. They can be used together to require multiple predetermined conditions PR to be satisfied. As a non-limiting example, sensor 180 may detect when a user is applying an impact force FI. This can be used to change how PR is defined for a given condition during the period that includes the impact event. For example, during impaction, the target site TS can be tracked via the first patient tracker 160A. Another easy way to interpret this movement is that the target site TS responds first to the application of the impact force FI. Sometimes this is done to prevent false detection of a "runaway" condition. Other configurations are contemplated.

[0219] The surgical system 100 detects the impact force FI (or off-axis force) and executes a runaway condition control algorithm. For this reason, it is possible to ignore or underestimate such impact forces FI. , the surgical system 100 detects an event where the expected impact force FI is an undesired "runaway" force. The surgical system 100 can then determine that the second mode is not in the "ON" state. It can be determined that there is no need to control the manipulator according to the method M2. To distinguish between a runaway condition and an impact force FI, the system 100 includes a force torque sensor 180. Analyze the X and Y component force signals from the Z axis, as they are not constrained by the mechanical design. The Z component of the force was ignored. To detect a runaway condition, in one implementation, the system 100 is the combined X and Y axis forces over a specific period (e.g., 125 ms). Averaging the magnitude of the force and determining if this average magnitude of the force is greater than the force threshold. The standard deviation for the same period can be calculated to determine whether the same period is below the threshold. If the threshold is met, the system 100 determines that a runaway condition exists. In one experiment, the example of the X and Y force deviation in the runaway state was + / - The range was 10 to 60 N. There may be other ways to determine if a runaway condition exists. For example, the measured X and Y forces can be compared individually to threshold limits over time. Other factors may be considered when determining the threshold for detecting the condition.

[0220] On the other hand, to detect the impact force FI (compared to the runaway state), the sensor 180 The X, Y, and Z components of the resulting force are measured over the duration of the impact (e.g., 30-6 0 seconds) can be analyzed by the sensing system 100. In one example, most of the force during the impact event The force is generated in the Z direction due to the mechanical properties of the assembly. However, the X and Y forces are During this period, the X, Y, and Z Each component generates a separate signal spike indicative of its respective impact. , each of the signal spikes indicative of each impaction can be isolated. Each signal spike was experimentally determined to last for a duration in the range of 100–150 ms. The sensing system 100 then calculates the duration of each impact event. , the standard deviation during that calculated duration can be calculated. A threshold is set to define an application event. When the threshold is met, the system 100 In one experiment, the impact event was Example of force deviation in X and Y direction depending on the vent is in the range of + / - 10 to 30 N, Examples of Z-direction force deviations in response to a punc- tion event ranged from + / - 20 to 40 N. There may be other ways to determine that an impact event has occurred. For example: For example, measured forces can be individually compared to thresholds over time. The threshold for detection depends on the cup type, cup size, patient data, and impactor performance. This may vary depending on factors such as system parameters, expected impact force, etc. can filter between escape and impact events, You can intelligently change the constraint criteria only if necessary to counteract the do.

[0221] Furthermore, there are different types of predetermined conditions that must be met before changing between modes M1 and M2. Combining the subject PR also allows for the use of the powered surgical device described above in connection with Figures 12-14D. This can be implemented using other types of tools 104, such as a power generation assembly 150. The predetermined condition PR associated with the system condition SYC defined by the operation of the library 152 is (e.g., motor speed, load, etc.), navigation system 128, sensors 180, etc. The system conditions SYC can be compared with predetermined conditions PR associated with the system conditions SYC, e.g. For example, in other cases, the controller 124 may change the tool 104 between modes M1 and M2. Even if the target site TS moves simultaneously, the energy applicator 114 still rotates. If the mode is M1 or M2, try to avoid changing between modes M1 and M2. The examples are intended to be illustrative and non-limiting, and other configurations are contemplated.

[0222] In one example, as shown in FIG. 26, a “runaway” state occurs when the energy applicator 114 A tool 104, such as a tool having a bar 154 as a While being constrained by the virtual boundary 174, it may be in a state of engagement with the bone of the target site TS. More specifically, the bar 154 is trapped between the imaginary boundary 174 and the bone of the target site TS. If the battery is caught, placed, or pinched, a runaway condition may exist. The object 154 may be partially pushed outside the virtual boundary 174. 4 is configured to limit the movement of the tool 104, so that the system generates a reaction force RF The manipulator is controlled to apply a reaction force RF to the bar 154. 54 is pressed against the bone of the target part TS, and the bone of the target part TS moves. , are tracked by the navigation system via tracker 160A. , pressing the target site TS causes a corresponding movement of the associated virtual boundary 174, which then , the reaction force RF continues until the runaway state. In this example, the first constraint criterion C1 and the second constraint Criterion C2 can be any of the above to prevent runaway conditions. Alternatively, the constraint criteria C1, C2 may be related to the magnitude or direction of the reaction force RD, the reaction force RF, stiffness or damping parameters, the shape of the virtual boundary 174, the flexibility of the virtual boundary 174, the tool stiffness or damping parameters related to the orientation of the energy applicator 104 and / or the energy applicator 114 meter, or the effective position of the tool 104 and / or energy applicator 114 or directional degrees of freedom.

[0223] In one embodiment, the present disclosure is also directed to a method of operating the surgical system 100. The surgical system may include an interface for releasably securing the implantable component 116. impactor assembly 210 having a face 212; impactor assembly 21 0, the guide 208 having a channel 262 formed to receive the eye along the track T. A manipulator 102, a sensor, and a guide 208 are configured to support the guide 208 relative to the target site TS. and a manipulator 102 coupled to the sensor 180 to perform different steps. The step includes a controller 124 configured to perform a first constraint criterion C1. Therefore, the manipulator operates in a first mode M1 to maintain the alignment of the guide 208 with respect to the trajectory T. a step of operating the controller 102, and determining whether a second constraint criterion C2 is different from the first constraint criterion C1; Therefore, the manipulator operates in a second mode M2 ​​that maintains the alignment of the guide 208 with respect to the trajectory T. a step of operating the manipulator 102, and detecting the target site TS and the manipulator 102 using the sensor 180; 02, and detecting a force FD generated between the sensor 180. Determine whether the force FD satisfies a predetermined condition PC, and adjust the movement of the manipulator 102 accordingly. The method includes changing the operation from a first mode M1 to a second mode M2.

[0224] Thus, the techniques, methods, and embodiments of the surgical system 100 of the present disclosure provide a method for treating a target site T A manipulator 102 is used to support different types of tools 104 for S. provides important advantages in connection with various types of surgical procedures performed using The functions provided by the controller 124, the sensing system 206, and the manipulator 102 are enables surgeons and other users to perform surgical procedures in a safe, reliable, and predictable manner Specifically, it helps ensure that different types of The ability to switch between modes M1 and M2 in response to the detection of system condition SYC is not If not, "lift" or "rotate" the patient P via the manipulator 102. This helps prevent "runaway" conditions (and other types of undesired movement of the tool 104).

[0225] Those skilled in the art will appreciate that aspects of the embodiments described and illustrated herein may be interchangeable or otherwise modified. Understand that they can be combined.

[0226] Furthermore, the words "include," "includes," and "including" The term "comprise" means "to comprise" ng)" has the same meaning as the term " Terms such as "first," "second," and "third" are used as non-limiting examples for clarity and consistency. It will be understood that certain structural features and components have been distinguished for illustrative purposes.

[0227] In the above configuration, several embodiments have been described. The configurations discussed herein are not intended to be exhaustive or to limit the invention to any particular form. The terminology used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations are possible in light of the above teaching. It is possible and the invention can be practiced other than as specifically described.

Claims

1. a tool for engaging the target site; a manipulator configured to support the tool; the tool, the manipulator, the target site, or a combination thereof a sensor configured to detect one or more system conditions associated with one or more Knowledge systems and a controller coupled to the manipulator and the sensing system, a first constraint for maintaining alignment of the tool with respect to the target portion according to a first constraint; mode, The tool is adapted to the target location according to a second constraint criterion different from the first constraint criterion. A second mode for maintaining consistency of rules. a controller configured to operate the manipulator between Including, The controller further comprises: a controller configured to: determine whether at least one of the one or more system conditions is met; In response to determining that a predetermined condition is satisfied, the operation of the manipulator is controlled by the first motor. the surgical system being configured to change from the first mode to the second mode.

2. The first constraint criterion is a first number by which the movement of the tool is limited relative to the target region. and the second constraint criterion limits the movement of the tool relative to the target region. a second number of degrees of freedom that are different from the first number of degrees of freedom; Unlike The controller further operates the manipulator to In the first mode, the first number of degrees of freedom is used to determine the position of the target site. Maintain tool integrity and In the second mode, the second number of degrees of freedom is used to determine the position of the target site. Maintaining tool alignment The surgical system of claim 1 , configured to:

3. The second number of degrees of freedom is less than the first number of degrees of freedom, and the controller: In the second mode, at least one more degree of freedom than in the first mode, The surgical system of claim 2 , wherein the system enables movement of the tool relative to a target site.

4. The first constraint criterion is at least one positional degree of freedom and at least one directional degree of freedom. The surgical system of claim 2 or 3, comprising:

5. The first constraint criterion and the second constraint criterion each have at least one directional degree of freedom. The surgical system of claim 2 , comprising:

6. The first constraint criterion includes at least one more positional degree of freedom than the second constraint criterion. The surgical system of claim 2 .

7. the first constraint criterion and the second constraint criterion include at least one common degree of freedom; The surgical system according to any one of claims 2 to 6.

8. The first constraint criterion includes a first elasticity parameter, and the second constraint criterion includes a first elasticity parameter. a second elasticity parameter different from the elasticity parameter of The controller further operates the manipulator to In the first mode, a force is applied to the target area based on the first elasticity parameter. maintaining the integrity of said tools; In the second mode, the elasticity of the target area is determined based on the second elasticity parameter.

8. The method of claim 1, further comprising: The surgical system described in

9. The controller is configured to:

9. The surgical system of claim 8, wherein the surgical tool is adapted to move more resilient relative to the surgical position. Tem.

10. The first elasticity parameter and the second elasticity parameter each have a common degree of freedom.

8. The method of claim 7, wherein the method further comprises:

9. The surgical system according to claim 9.

11. the tool defines a tool center point; The controller operates the manipulator in the first mode to and constraining movement of the tool center point away from the target portion according to a constraint criterion. The surgical system according to claim 1 , wherein the surgical system is configured to:

12. The controller controls the tool to move away from the target portion according to the second constraint criterion. operating the manipulator in the second mode to allow movement of the center point; The surgical system of claim 11 , configured to:

13. further comprising a mode indicator coupled to the controller; The controller determines whether at least one of the one or more system conditions is greater than or equal to the predetermined value. In response to determining that the condition is met, the mode indicator is actuated to notifying a user of a change in the operation of the computer from the first mode to the second mode; The surgical system of claim 1 , configured to:

14. The controller controls the objective in at least one degree of freedom according to the first constraint criterion. The manipulator is configured to move the tool relative to the target site in the first mode.

14. The external device according to claim 1, configured to operate a regulator. Department system.

15. The controller controls the objective in at least one degree of freedom according to the second constraint criterion. The manipulator is configured to move the tool relative to the target site in the second mode. The surgical system of claim 14 , configured to operate a transducer.

16. The controller determines a constraint that is different from both the first constraint criterion and the second constraint criterion. a third mode that maintains alignment of the tool with respect to the target portion according to three constraints. further configured to operate the manipulator at The predetermined condition is further defined as a first predetermined condition, The controller is configured to determine whether at least one of the one or more system conditions is greater than or equal to the first system condition. In response to determining that a second predetermined condition different from the first predetermined condition is satisfied, and further configured to change the operation of the inflator from the second mode to the third mode. The surgical system of claim 1 , wherein

17. The first constraint criterion is a first number by which the movement of the tool is limited relative to the target region. and the second constraint criterion limits the movement of the tool relative to the target region. a second number of degrees of freedom to be determined, and the third constraint is that the tool motion must be such that it does not interfere with the target part; a third number of degrees of freedom restricted to a certain degree, said third number of degrees of freedom being a ... one or more of the degrees of freedom and the second number of degrees of freedom are different; The controller further operates the manipulator to In the first mode, the first number of degrees of freedom is used to determine the position of the target site. Maintain tool integrity and In the second mode, the second number of degrees of freedom is used to determine the position of the target site. Maintain tool integrity and In the third mode, the third number of degrees of freedom is used to determine the position of the target portion. The surgical system of claim 16 configured to maintain tool alignment.

18. The first constraint criterion further includes a first elasticity parameter, and the second constraint criterion is , a second elasticity parameter, and the third constraint criterion is and a third elasticity parameter different from one or more of the second elasticity parameters. further comprising: The controller further operates the manipulator to In the first mode, based on the first number of degrees of freedom and the first elastic parameters maintaining alignment of the tool with respect to the target site based on a meter; In the second mode, based on the second number of degrees of freedom and the second elastic parameters maintaining alignment of the tool with respect to the target site based on a meter; In the third mode, based on the third number of degrees of freedom and the third elastic parameter 18. The method of claim 17, wherein alignment of the tool with the target site is maintained based on a meter. surgical system.

19. The third number of degrees of freedom is less than the first number of degrees of freedom, and the controller: In the third mode, the rotational speed is increased by at least one degree of freedom compared to the first mode. The surgical system of claim 18 , wherein the system enables movement of the tool relative to a target site.

20. The third number of degrees of freedom is less than the second number of degrees of freedom, and the controller: In the third mode, the rotational speed is increased by at least one degree of freedom compared to the second mode. The surgical system of claim 19 , wherein the system enables movement of the tool relative to a target site.

21. The first constraint criterion and the second constraint criterion each include at least one positional degree of freedom and and at least one directional degree of freedom. system.

22. The first constraint criterion, the second constraint criterion, and the third constraint criterion each include at least 22. The surgical system of any one of claims 18 to 21, including at least one directional degree of freedom. Hmm.

23. The first constraint criterion includes at least one more positional degree of freedom than the third constraint criterion. The surgical system of any one of claims 18 to 22.

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

25. The controller is configured to:

25. The method of claim 18, wherein the tool is moved in a more resilient manner relative to the position. The surgical system according to any one of claims 1 to 4.

26. The controller is configured to:

26. The surgical system of claim 25, wherein the surgical system allows for more resilient movement of the tool relative to the position. Stem.

27. The first constraint criterion includes a first elasticity parameter, and the second constraint criterion includes a second elasticity parameter. and the third constraint criterion is a ratio of the first elasticity parameter and the previous elasticity parameter. a third elasticity parameter different from one or more of the second elasticity parameters; The controller further operates the manipulator to In the first mode, a force is applied to the target area based on the first elasticity parameter. maintaining the integrity of said tools; In the second mode, the elasticity of the target area is determined based on the second elasticity parameter. maintaining the integrity of said tools; In the third mode, the elasticity of the target region is determined based on the third elasticity parameter.

27. The method of claim 16, wherein the method is configured to maintain alignment of the tool. Item 14. The surgical system described in item 14.

28. The sensing system measures forces indicative of forces occurring between the target site and the manipulator. at least one sensor configured to obtain a constant value; The measurements indicative of the force obtained by the at least one sensor are or at least one of a plurality of system conditions, The operation of the manipulator, The force detected by the at least one sensor satisfies the first predetermined condition. from the first mode to the second mode in response to determining that the The force detected by the at least one sensor satisfies the second predetermined condition. and in response to determining that the second mode is to be changed to the third mode, 28. The surgical system of any one of claims 16 to 27, configured as follows:

29. The first predetermined condition is based on a first force detected by the at least one sensor. and the second predetermined condition is defined by a value detected by the at least one sensor.

2. The method of claim 1, wherein the force is determined by a second force determined by the first force, the second force being greater than the first force.

9. The surgical system of claim 8.

30. further comprising a patient tracker adapted for attachment to the target site; The sensing system includes a navigation system configured to track a state of the patient tracker. including the system The tracking status of the patient tracker is determined based on at least one of the one or more system conditions. and in response to determining that the tracking status of the patient tracker satisfies the predetermined condition, and the controller changes the operation of the manipulator from the first mode to the second mode.

30. The surgical device of claim 1, wherein the surgical device is configured to change modes. system.

31. The controller, based on the tracking state received from the navigation system, and further configured to compare the tracked movement of the tool with the movement of the patient tracker. R, The tracked movement of the tool is determined based on at least one of the one or more system conditions. also specifies one The predetermined condition may be a tracking condition of the tool that corresponds to a tracked state of the patient tracker. The surgical system of claim 30, wherein the position is determined based on the movement of the target.

32. The sensing system measures forces indicative of forces occurring between the target site and the manipulator. at least one sensor configured to obtain a constant value; The measurements indicative of the force obtained by the at least one sensor are or a plurality of system conditions, and the controller In response to determining that the force detected by at least one sensor satisfies the predetermined condition, In response, the operation of the manipulator is changed from the first mode to the second mode.

32. The surgical system of claim 1, configured to:

33. The controller further operates the manipulator in the first mode to The measurement values ​​indicative of the force obtained by the at least one sensor satisfy the predetermined condition. As the force increases towards the target site, the force of the tool increases with increasing elasticity. The surgical system of claim 32 configured to resist movement.

34. The tool receives an impactor assembly and moves the impactor relative to the guide. Guide with channels formed to allow limited movement of the rotor assembly the impactor assembly includes an interface for releasably securing the prosthesis. -face, The manipulator is adapted to receive the impactor assembly in the channel of the guide. and inserting the prosthesis into the eye while the prosthesis is secured to the impactor assembly. configured to support the guide along a trajectory relative to a target site; the target site is further defined as an acetabular cup; The at least one sensor is adapted to position the prosthesis in the acetabular cup. to detect the force resulting from a force applied to the impactor assembly. Consists of The controller is configured to apply a force to the acetabular cup based on the detected force. further configured to estimate torque; The controller determines whether the estimated torque applied to the acetabular cup is within the predetermined condition. In response to determining that the above condition is satisfied, the operation of the manipulator is changed from the first mode to the previous mode.

34. The method of claim 32 or 33, further configured to change to the second mode.

10. The surgical system according to claim 1,

35. The at least one sensor may include a force torque transducer, a joint actuator current sensor, a joint One or more of a joint force sensor, a joint torque sensor, and a joint encoder 35. The method of any one of claims 28, 29, and 32-34, further defined as a number surgical system.

36. a tool for engaging the target site along the trajectory; a manipulator configured to support the tool; obtaining measurements indicative of forces generated between the target site and the manipulator; at least one sensor configured; a controller coupled to the manipulator and the at least one sensing system And, a first model for maintaining alignment of the tool with respect to the trajectory according to a first constraint criterion; and The tool is moved relative to the trajectory according to a second constraint criterion different from the first constraint criterion. a second mode for maintaining the consistency of a controller configured to operate the manipulator between Including, The controller further comprises: and change the operation of the manipulator from the first mode to the second mode.

1. A surgical system configured as follows:

37. The first constraint criterion is a first number of autonomous limits by which the movement of the tool is constrained relative to the trajectory. the second constraint criterion includes a degree of freedom by which the movement of the tool is restricted relative to the trajectory; two degrees of freedom, the second number of degrees of freedom being different from the first number of degrees of freedom; the controller is further configured to operate the manipulator; In the first mode, the tool relative to the trajectory is controlled based on the first number of degrees of freedom. Maintain consistency of rules, In the second mode, the tool relative to the trajectory is controlled based on the second number of degrees of freedom.

37. The surgical system of claim 36, wherein the system maintains alignment of the loops.

38. The second number of degrees of freedom is less than the first number of degrees of freedom, and the controller: In the second mode, at least one more degree of freedom than in the first mode, The surgical system of claim 37 , wherein the system allows movement of the tool relative to a trajectory.

39. The first constraint criterion is at least one positional degree of freedom and at least one directional degree of freedom.

39. The surgical system of claim 37 or 38, comprising:

40. The first constraint criterion and the second constraint criterion each have at least one directional degree of freedom.

40. The surgical system of any one of claims 37 to 39, comprising:

41. The first constraint criterion includes at least one more positional degree of freedom than the second constraint criterion.

41. The surgical system of any one of claims 37 to 40.

42. the first constraint criterion and the second constraint criterion include at least one common degree of freedom; 42. The surgical system of any one of claims 37 to 41.

43. The first constraint criterion includes a first elasticity parameter, and the second constraint criterion includes a first elasticity parameter. a second elasticity parameter different from the elasticity parameter of The controller operates the manipulator to In the first mode, a forward movement relative to the trajectory is determined based on the first elasticity parameter. Maintaining the integrity of the tools In the second mode, a forward movement of the trajectory is determined based on the second elasticity parameter.

37. The surgical system of claim 36, further configured to maintain alignment of the tool. Hmm.

44. The controller adjusts the trajectory in the second mode more than in the first mode.

44. The surgical system of claim 43, wherein the surgical system allows for more resilient movement of the tool relative to the Hmm.

45. The first elasticity parameter and the second elasticity parameter each have a common degree of freedom.

44. The method of claim 43, wherein the tool is moved relative to the track in a resilient manner.

44. A surgical system as described in any one of claims 44.

46. The controller further operates the manipulator in the first mode to The measurement values ​​indicative of the force obtained by the at least one sensor satisfy the predetermined condition. As the force increases towards The surgical system of claim 36, wherein the surgical system is configured to resist

47. the tool defines a tool center point; The controller operates the manipulator in the first mode to configured to limit movement of the tool center point away from the trajectory according to a constraint criterion of 37. The surgical system of claim 36,

48. The controller detects the tool center moving away from the trajectory according to the second constraint criterion. and operating the manipulator in the second mode to enable movement of the point.

48. The surgical system of claim 47, configured as follows:

49. further comprising a mode indicator coupled to the controller; The controller may further include a sensor for detecting the force of the sensor. a value indicating the change of the manipulator from the first mode to the second mode of operation; In response to determining that the predetermined condition for communicating the mode to a user is met, 37. The surgical system of claim 36, configured to activate a hand indicator.

50. The controller controls the trajectory in at least one degree of freedom according to the first constraint criterion. The manipulator is configured to move the tool relative to the path in the first mode. The surgical system of claim 36, configured to operate a motor.

51. The controller controls the trajectory in at least one degree of freedom according to the second constraint criterion. The manipulator is configured to move the tool relative to the path in the second mode.

51. The surgical system of claim 50, configured to operate a motor.

52. The controller determines a constraint that is different from both the first constraint criterion and the second constraint criterion. a third mode of maintaining alignment of the tool with respect to the trajectory according to three constraints; further configured to operate the manipulator; The predetermined condition is further defined as a first predetermined condition, The controller is configured to: satisfies a second predetermined condition different from the first predetermined condition. , to change the operation of the manipulator from the second mode to the third mode.

37. The surgical system of claim 36, further comprising:

53. The first predetermined condition is determined by measurements obtained by the at least one sensor. the second predetermined condition is defined by a first force detected by the at least one a second force detected by measurements obtained from the two sensors; 53. The surgical system of claim 52, wherein the second force is greater than the first force.

54. The first constraint criterion is a first number of autonomous limits by which the movement of the tool is constrained relative to the trajectory. and the second constraint criterion includes a degree of freedom by which the movement of the tool is restricted relative to the trajectory. and a third constraint criterion for determining whether the tool motion is relative to the trajectory. a third number of degrees of freedom that are limited by the first number of degrees of freedom, and one or more of said second number of degrees of freedom are different from The controller further operates the manipulator to In the first mode, the tool relative to the trajectory is controlled based on the first number of degrees of freedom. Maintain consistency of rules, In the second mode, the tool relative to the trajectory is controlled based on the second number of degrees of freedom. Maintain consistency of rules, In the third mode, the tool relative to the trajectory is controlled based on the third number of degrees of freedom. Maintain consistency of rules 54. The surgical system of claim 52 or 53, configured to:

55. The first constraint criterion further includes a first elasticity parameter, and the second constraint criterion is , a second elasticity parameter, and the third constraint criterion is and a third elasticity parameter different from one or more of the second elasticity parameters. further comprising: The controller further operates the manipulator to In the first mode, based on the first number of degrees of freedom and the first elastic parameters maintaining alignment of the tool with respect to the trajectory based on a meter; In the second mode, based on the second number of degrees of freedom and the second elastic parameters maintaining alignment of the tool with respect to the trajectory based on a meter; In the third mode, based on the third number of degrees of freedom and the third elastic parameter Maintaining alignment of the tool with respect to the trajectory based on a meter 55. The surgical system of claim 54, configured to:

56. The third number of degrees of freedom is less than the first number of degrees of freedom, and the controller: In the third mode, the rotational speed is increased by at least one degree of freedom compared to the first mode. The surgical system of claim 55, wherein the system allows movement of the tool relative to a trajectory.

57. The third number of degrees of freedom is less than the second number of degrees of freedom, and the controller: In the third mode, the rotational speed is increased by at least one degree of freedom compared to the second mode. The surgical system of claim 56, wherein the system allows movement of the tool relative to a trajectory.

58. The first constraint criterion and the second constraint criterion each include at least one positional degree of freedom and 56. The surgical system of claim 55, including at least one directional degree of freedom.

59. The first constraint criterion, the second constraint criterion, and the third constraint criterion each include at least 56. The surgical system of claim 55, including at least one directional degree of freedom.

60. The first constraint criterion includes at least one more positional degree of freedom than the third constraint criterion.

56. The surgical system of claim 55.

61. The second constraint criterion includes at least one more positional degree of freedom than the third constraint criterion.

61. The surgical system of claim 60.

62. The controller adjusts the trajectory in the second mode more than in the first mode.

56. The surgical system of claim 55, wherein the surgical system allows for more resilient movement of the tool relative to the Hmm.

63. The controller may be configured to:

63. The surgical system of claim 62, wherein the surgical system allows for more resilient movement of the tool relative to the Hmm.

64. The first constraint criterion includes a first elasticity parameter, and the second constraint criterion includes a second elasticity parameter. and the third constraint criterion includes elasticity parameters of the first elasticity parameter and a third elasticity parameter different from one or more of the second elasticity parameters; The controller further operates the manipulator to In the first mode, a forward movement relative to the trajectory is determined based on the first elasticity parameter. Maintaining the integrity of the tools In the second mode, a forward movement of the trajectory is determined based on the second elasticity parameter. Maintaining the integrity of the tools In the third mode, a forward movement of the vehicle relative to the trajectory is determined based on the third elasticity parameter.

53. The surgical system of claim 52, configured to maintain alignment of the tools.

65. a patient tracker adapted for attachment to the target location; a navigation system configured to track a status of the patient tracker; and further comprising The controller is coupled to the navigation system, and the navigation system and determining the trajectory based on the tracking state of the patient tracker received from the patient tracking system.

37. The surgical system of claim 36, further configured as follows:

66. The tool receives an impactor assembly and moves the impactor relative to the guide. Guide with channels formed to allow limited movement of the rotor assembly the impactor assembly includes an interface for releasably securing the prosthesis. -face, The manipulator is configured to support the guide relative to the target site.

37. The surgical system of claim 36, wherein

67. The manipulator is adapted to receive the impactor assembly in the channel of the guide. and inserting the prosthesis into the eye while the prosthesis is secured to the impactor assembly. configured to support the guide relative to a target site; the target site is further defined as an acetabular cup; The at least one sensor is adapted to position the prosthesis in the acetabular cup. obtaining measurements indicative of the force resulting from a force applied to the impactor assembly; It is configured to The controller is configured to apply a force to the acetabular cup based on the detected force. further configured to estimate torque; The controller determines whether the estimated torque applied to the acetabular cup is within the predetermined condition. In response to determining that the above condition is satisfied, the operation of the manipulator is changed from the first mode to the previous mode.

67. The surgical system of claim 66, further configured to change to the second mode. Hmm.

68. The at least one sensor may include a force torque transducer, a joint actuator current sensor, a joint One or more of a joint force sensor, a joint torque sensor, and a joint encoder Any of claims 36, 46, 49, 52, 53, and 67 further defined as a number The surgical system according to claim 1.

69. a tool for engaging the target site; a manipulator configured to support the tool relative to the target site; a patient tracker adapted for attachment to the target location; a navigation system configured to track a state of the patient tracker; and a controller coupled to the manipulator and the navigation system; hand, a first constraint for maintaining alignment of the tool with respect to the target portion according to a first constraint; mode, The tool is adapted to the target location according to a second constraint criterion different from the first constraint criterion. A second mode for maintaining consistency of rules. a controller configured to operate the manipulator between Including, The controller, based on the tracking state received from the navigation system, and further configured to compare the tracked movement of the tool with the movement of the patient tracker. R, The controller detects whether the tracked movement of the tool corresponds to the movement of the patient tracker. In response to determining that the manipulator is in the first mode, the manipulator is switched from the first mode to the second mode. The surgical system is further configured to change to a second mode.

70. An impactor assembly having an interface for releasably securing the prosthesis. a guide having a channel formed therein to receive the impactor assembly; a manipulator configured to support the guide relative to a target location along a trajectory; a manipulator, at least one sensor, and a manipulator and at least one sensor 1. A method of operating a surgical system including a controller coupled to The controller: a first motor for maintaining alignment of the guide with respect to the trajectory according to a first constraint criterion; operating the manipulator with a keyboard; The guide for the trajectory is determined according to a second constraint criterion different from the first constraint criterion. operating the manipulator in a second mode to maintain alignment of Based on measurements from the at least one sensor, detecting a force generated between the sensor and the sensor; determining whether the force satisfies a predetermined condition and controlling the operation of the manipulator accordingly; changing from the first mode to the second mode; The method is configured to perform the following.

71. a tool for engaging the target site; a manipulator configured to support the tool; the tool, the manipulator, the target site, or a combination thereof a sensor configured to detect one or more system conditions associated with one or more Knowledge systems and coupled to the manipulator and the sensing system; The machine is adapted to maintain alignment of the tool with the target portion according to a first constraint. Operate the manipulator, and operating the manipulator in response to detecting the one or more system conditions. and, determining whether the tool is located relative to the target portion according to a second constraint criterion different from the first constraint criterion. Maintain consistency of rules and a controller configured as a surgical system comprising:

72. The controller determines the system conditions based on the system conditions detected from the sensing system.

72. The surgical system of claim 71, configured to determine parameters of two constraint criteria. Stem.

73. a tool for engaging the target site along the trajectory; a manipulator configured to support the tool; obtaining measurements indicative of forces generated between the target site and the manipulator; at least one sensor configured; a controller coupled to the manipulator and the at least one sensor; hand, The manipulator is adapted to maintain alignment of the tool with the trajectory according to a first constraint. Operate the emulator, evaluating the obtained measurements indicative of the force; In response to the evaluation, the manipulator is operated to obtain a second constraint criterion different from the first constraint criterion. Maintaining alignment of the tool with respect to the trajectory according to two constraints. and a controller configured as a surgical system comprising:

74. The controller determines the second constraint based on the obtained measurements indicative of the force.

74. The surgical system of claim 73, configured to determine a reference parameter.

75. a tool for engaging the target site; a manipulator configured to support the tool relative to the target site; a patient tracker adapted for attachment to the target location; a navigation system configured to track a state of the patient tracker; and a controller coupled to the manipulator and the navigation system; hand, The machine is adapted to maintain alignment of the tool with the target portion according to a first constraint. Operate the manipulator, based on a tracking state of the patient tracker received from the navigation system; assessing the tracked movement of the tool relative to the movement of the patient tracker; In response to the evaluation, the manipulator is operated to obtain a second constraint criterion different from the first constraint criterion. Maintaining alignment of the tool with respect to the target region according to two constraints. and a controller configured as a surgical system comprising:

76. The controller determines the second constraint criterion based on the evaluated tracked movement.

76. The surgical system of claim 75, configured to determine a parameter of

77. a tool for engaging the target site; a manipulator configured to support the tool relative to the target site; a patient tracker adapted for attachment to the target location; a navigation system configured to track a state of the patient tracker; and a controller coupled to the manipulator and the navigation system; hand, A motion of the tool relative to a virtual boundary associated with the target portion according to a first constraint criterion. manipulating the manipulator to constrain; based on a tracking state of the patient tracker received from the navigation system; assessing the tracked movement of the tool relative to the movement of the patient tracker; In response to the comparison, the manipulator is operated to obtain a second constraint criterion different from the first constraint criterion. and restricting the movement of the tool relative to the virtual boundary according to two constraint criteria. and a controller configured as a surgical system comprising:

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