Handheld robotic surgical instrument system with visual indicators

Abstract

We provide a system that includes robotic instruments used in conjunction with surgical tools. [Solution] The robotic instrument includes a user-held handle and a tool support that is movably coupled to the handle and supports a surgical tool. Multiple actuators operatively interconnect the tool support and the handle to move the tool support with three degrees of freedom relative to the handle. An optional constraint assembly may operatively interconnect the tool support and the handle to restrict the movement of the tool support with three degrees of freedom relative to the handle. Visual indicators assist the user in positioning the handle of the instrument to maximize the usefulness of the system.

Description

Technical Field

[0001] This application generally relates to a surgical hand-held robotic instrument system and method of use.

Background Art

[0002] When excising tissue from a patient, a physical cutting guide is used to constrain the surgical tool. In some cases, the physical cutting guide constrains such surgical tools for the purpose of preparing the joint to receive a replacement implant. The time required to position and secure the physical cutting guide relative to the patient can comprise a significant portion of the total time required to perform the surgical procedure.

[0003] [[ID=2-3]] A navigation system (also referred to as a tracking system) can be used to properly align and secure a jig and to track the position and / or orientation (position or orientation or both) of a surgical tool used to excise tissue from a patient. The tracking system typically employs one or more trackers associated with the tool and the tissue being excised. And a user can determine the current position of the tool relative to a desired cutting path of the tissue to be removed by looking at a display. The display can be arranged in such a manner that the user must look away from the tissue and surgical site in order to visualize the progress of the tool. As a result, the user's attention can be diverted from focusing on the surgical site. Also, it can be difficult for the user to position the tool in a desired manner.

[0004] Robot-assisted surgery typically involves movement with 6 degrees of freedom (DOF). It relies on large robots equipped with robotic arms that can perform surgery. It may be difficult to operate and control from inside a room. [Overview of the project] [Problems that the invention aims to solve]

[0005] Systems and methods are needed to address one or more of these challenging issues. . [Means for solving the problem]

[0006] One overall aspect is a handheld robotic system used in conjunction with surgical tools. -Includes a handheld robotic system. A handheld robotic system also includes a hand held by the user. The instrument includes a handle portion and a tool support attached to the handle portion. The instrument may include a tool drive motor that drives the movement of the surgical tool. The instrument is a tool support The body and the handheld part are electrically interconnected, allowing the surgical tool to move freely in multiple directions relative to the handheld part. It may include an actuator assembly for moving the tool support so that it moves in degrees. The actuator assembly includes multiple actuators. This system is also handheld. It may include visual indicators to guide the user to the location where the part should be placed. A control system may be coupled to the cutuator and visual indicator, and the control system is Determine the position and / or orientation of the handheld portion in the first degree of freedom within a known coordinate system. It is configured in such a way. The control system also controls the position of the handheld part in the first degree of freedom. The range of motion of the tool support in the second degree of freedom may be determined based on the direction or orientation. The control system also determines the position of the handheld part in the second degree of freedom in a known coordinate system and / or the orientation may be determined. The control system also controls the handheld portion in the second degree of freedom. Visual indicators may be controlled based on their position and / or orientation and range of motion.

[0007] Another overall configuration includes handheld robotic systems used in conjunction with surgical tools. The handheld robot system consists of a handheld part held by the user and a connecting part to the handheld part. The instrument also includes a tool support. The tool support is the tool that drives the movement of the surgical tool. The device may also include a drive motor. The device also operatively connects the tool support and the handgrip. Next, move the tool support so that the tool can be moved with multiple degrees of freedom relative to the handheld part. , may include an actuator assembly, and the actuator assembly may include multiple actuators Includes a generator. The handheld robot system also uses a meter to place the handheld part where it should be positioned. The system may include a visual indicator to guide the user. This system includes multiple actuators and The control system may further include a control system coupled to a visual indicator. The system may be configured to determine the first orientation of the handheld part in the coordinate system of knowledge. Tem also determines the first range of motion in the first degree of freedom based on the first posture, and the known seat The control system may be configured to determine a second attitude of the handheld portion in the target system. Alternatively, the second range of motion in the first degree of freedom may be determined based on the second posture, and the first The range of motion and the second range of motion are different, and the first posture and the second posture are different. The control system Further, based on the first posture in the first degree of freedom, the first position and / or orientation of the hand-held portion is determined, and the visual indicator is controlled based on the first position and / or orientation and the first movable range Then, based on the second posture in the first degree of freedom, the second position and / or orientation of the hand-held portion is determined, and the visual indicator is controlled based on the second position and / or orientation and the second movable range may be.

[0008] Another overall aspect is a method of controlling a visual indicator of a hand-held robot system used with a saw blade. The robot system includes a hand-held device having a hand-held portion held by a user and a blade support movably coupled to the hand-held portion to support the saw blade The hand-held device may include an actuator assembly that operatively interconnects the blade support and the hand-held portion. The actuator assembly may include a plurality of actuators. The blade support may include a saw drive motor. The method may include determining the position and / or orientation of the hand-held portion in a first degree of freedom in a known coordinate system, and determining the movable range of the blade support in a second degree of freedom based on the position and / or orientation of the hand-held portion in the first degree of freedom in the known coordinate system [[ID=…]] … … … … … … The method may also include determining the position and / or orientation of the hand-held portion in a second degree of freedom in the known coordinate system. The method may include controlling the visual indicator based on the position and / or orientation of the hand-held portion in the second degree of freedom and the movable range … … …

[0009] Another overall aspect is a hand-held robot system used with a tool. This system is characterized by a hand-held portion held by a user and a tool support coupled to the hand-held portion The tool support may include a tool drive motor that drives the movement of the tool. The instrument may include the following: The instrument operatesly interconnects the tool support and the handgrip, and the tool The tool support moves with multiple degrees of freedom relative to the handheld part to align the tool. It may include actuator assemblies that move the actuators. Multiple actuator assemblies may be included. This system includes actuators. This system guides the user to the location where the handheld part should be placed. This system may include a visual indicator. A control system may be included. The control system has a first degree of freedom and in a known coordinate system. The system may be configured to determine the position and / or orientation of the handheld portion in the second degree of freedom. The control system controls the position of the handgrip portion in the first and second degrees of freedom and / or Orientation and the movement of the tool support relative to the handgrip in the first and second degrees of freedom. The method may be configured to control the visual indicator based on the region. It can be done.

[0010] The advantages of this disclosure, when considered together with the attached drawings, should be referred to in the following detailed description. As this disclosure is better understood, it will become easier to understand. [Brief explanation of the drawing]

[0011] [Figure 1] This is a perspective view of the robot system. [Figure 2] This is a perspective view of a robotic instrument used to cut five faces of the femur in order to receive a total knee joint implant. [Figure 3A] This diagram shows the orientation of various pitches for robotic devices. [Figure 3B] This diagram shows the orientation of various pitches for robotic devices. [Figure 3C] This diagram shows the orientation of various pitches for robotic devices. [Figure 4A] This is a diagram showing the orientation of various rolls in a robotic device. [Figure 4B] This is a diagram showing the orientation of various rolls in a robotic device. [Figure 4C] This is a diagram showing the orientation of various rolls in a robotic device. [Figure 5A] This diagram shows various z-axis translational positions of a robotic device. [Figure 5B] This diagram shows various z-axis translational positions of a robotic device. [Figure 5C] This diagram shows various z-axis translational positions of a robotic device. [Figure 6] This is a front perspective view of a robotic instrument showing one specific orientation of the tool support relative to the handheld portion. [Figure 7] This is a block diagram of the control system, showing various software modules. [Figure 8] This is a rear perspective view of the robotic device. [Figure 9] This is a side view of an exploded robotic device. [Figure 10] This is a schematic diagram of various variations of handheld robotic surgical systems. [Figure 11] This is a partial cross-sectional view of a robotic device. [Figure 12] This figure shows the Cartesian model of the workspace for robotic equipment. [Figure 13] This figure shows the first two-dimensional slice region including the first range of motion vector. [Figure 14] This figure shows the two-dimensional slice region of Figure 13, which includes the first actual deviation vector. [Figure 15] This figure shows the two-dimensional slice region of Figure 13, including the second range of motion vector. [Figure 16] This figure shows the two-dimensional slice region of Figure 15, including the second actual deviation vector. [Figure 17]This figure shows the two-dimensional slice region of Figure 16, including the third actual deviation vector. [Figure 18] This figure shows the two-dimensional slice region of Figure 13, including the third range of motion vector and a different origin. [Figure 19] This figure shows the second two-dimensional slice region, including the fourth range of motion vector. [Figure 20] This figure shows the two-dimensional slice region of Figure 19, including the fourth actual deviation vector. [Figure 21] This diagram shows a display screen that includes a height indicator. [Figure 22] This figure shows a display screen that includes role indicators. [Figure 23] This figure shows three display screens, each containing a pitch-roll indicator in three different configurations. [Figure 24] This figure shows a display screen that includes the pitch roll indicator. [Figure 25] This is a schematic diagram of a visual indicator including a lighting array. [Figure 26] This figure shows a display screen that includes roll indicators, pitch-roll indicators, and height indicators when the device is in the home position. [Figure 27A] This figure shows a handheld surgical instrument in a first spatial arrangement other than the home position, including a visual indicator on the display screen. [Figure 27B] This figure shows handheld surgical instruments in a second spatial arrangement other than the home position, including visual indicators on the display screen. [Figure 27C] This figure shows handheld surgical instruments in a third spatial position other than the home position, including visual indicators on the display screen. [Figure 28] This figure shows a handheld surgical instrument in a first spatial arrangement, including a visual indicator with multiple light sources. [Figure 29A] This figure shows the visual indicators in Figure 28, which relate to different spatial arrangements of handheld surgical instruments. [Figure 29B]This figure shows the visual indicators in Figure 28, which relate to different spatial arrangements of handheld surgical instruments. [Figure 29C] This figure shows the visual indicators in Figure 28, which relate to different spatial arrangements of handheld surgical instruments. [Figure 29D] This figure shows the visual indicators in Figure 28, which relate to different spatial arrangements of handheld surgical instruments. [Figure 29E] This figure shows the visual indicators in Figure 28, which relate to different spatial arrangements of handheld surgical instruments. [Figure 29F] This figure shows the visual indicators in Figure 28, which relate to different spatial arrangements of handheld surgical instruments. [Figure 29G] This figure shows the visual indicators in Figure 28, which relate to different spatial arrangements of handheld surgical instruments. [Figure 30A] Figure 28 is a schematic diagram of a translational visual indicator relating to different height arrangements of handheld surgical instruments. [Figure 30B] Figure 28 is a schematic diagram of a translational visual indicator relating to different height arrangements of handheld surgical instruments. [Figure 30C] Figure 28 is a schematic diagram of a translational visual indicator relating to different height arrangements of handheld surgical instruments. [Figure 30D] Figure 28 is a schematic diagram of a translational visual indicator relating to different height arrangements of handheld surgical instruments. [Figure 30E] Figure 28 is a schematic diagram of a translational visual indicator relating to different height arrangements of handheld surgical instruments. [Figure 31] This figure shows another visual indicator configuration that includes multiple light sources. [Figure 32A] This figure shows an exemplary display screen with visual indicators to facilitate the user's hand positioning. [Figure 32B] This figure shows an exemplary display screen with visual indicators to facilitate the user's hand positioning. [Figure 32C]This figure shows an exemplary display screen with visual indicators to facilitate the user's hand positioning. [Figure 33A] This figure shows another exemplary visual indicator that includes multiple light sources. [Figure 33B] This figure shows another exemplary visual indicator on the display screen. [Figure 34] This figure shows another exemplary visual indicator, including multiple light sources arranged on a column. [Figure 35A] This diagram shows yet another visual indicator on the display screen that corresponds to the spatial arrangement of handheld surgical instruments. [Figure 35B] This diagram shows yet another visual indicator on the display screen that corresponds to the spatial arrangement of handheld surgical instruments. [Figure 35C] This diagram shows yet another visual indicator on the display screen that corresponds to the spatial arrangement of handheld surgical instruments. [Figure 36A] This is a diagram showing another visual indicator in a certain form. [Figure 36B] This is a diagram showing another visual indicator in a certain form. [Figure 36C] This is a diagram showing another visual indicator in a certain form. [Figure 37] This is a diagram showing another visual indicator that includes multiple light sources. [Figure 38] This is a diagram showing a mechanically implemented visual indicator. [Figure 39] This is a diagram showing another visual indicator that is mechanically implemented. [Figure 40] This figure shows yet another visual indicator that is mechanically implemented. [Figure 41] This figure shows yet another visual indicator that is mechanically implemented. [Figure 42A] The following is a diagram illustrating an exemplary visual indicator. [Figure 42B] The following is a diagram illustrating an exemplary visual indicator. [Figure 42C] The following is a diagram illustrating an exemplary visual indicator. [Modes for carrying out the invention]

[0012] (overview) Referring to Figure 1, the robot system 10 is shown. The robot system 10 is, Patient 12 can receive a full knee joint implant (IM), Patient 12's femur F It also appears that a total knee joint procedure to remove a portion of the tibial T is being performed on patient 12. The robotic system 10 is used to perform procedures involving the removal of hard / soft tissue, or Other types of surgical procedures, including other forms of treatment, may be performed. For example, the procedure may involve tissue This may include cutting, tissue coagulation, tissue cauterization, tissue stapling, and tissue suturing. In some cases, surgical procedures include knee joint surgery, hip joint surgery, shoulder joint surgery, spinal surgery, or This includes ankle joint surgery, knee joint implants, hip joint implants, shoulder joint implants, It will be replaced with a surgical implant such as a spinal implant or ankle implant. This may include removing sea urchin tissue. The robotic system 10 and disclosed herein The technique may be used to perform other surgical or non-surgical procedures, in industrial applications or robotics. The system may be used for other purposes in which it is utilized.

[0013] Referring to Figures 1 and 2, the robot system 10 includes an instrument 14. In some cases, the user holds and supports the device 14 with their hand (as shown in Figure 1). In some examples, the device has a passive arm (e.g., a link-type arm with a locking joint) Auxiliary devices such as a weight-balancing arm, an active arm, etc., can be used to at least partially, While fully supported, the user can hold the device 14 by hand. Figures 1 and 1. As best shown in 2, the device 14 is grasped by hand, or by the user, an auxiliary device, or The hand portion 16 is supported by both sides.

[0014] The device 14 may be freely moved and supported by the user without the assistance of the guide arm, for example. For example, while performing the physical removal of a substance, the weight of the tool during the procedure is solely in the user's hand. It may be configured to be maintained by human users, so that it is supported. If so, the device 14 will maintain in a way that the user's hand is supporting the device 14 against the force of gravity. It may be configured to be held. The apparatus 14 is 8 pounds (3.63 kilograms) or less, 6 2.72 pounds or less, 5 pounds (2.27 kilograms) or less, or 3 pounds The weight may be 1.36 kilograms or less. Apparatus 14 conforms to ANSI / AAMI standards. It may have a weight corresponding to HE75:2009. Apparatus 14 receives tool 20 It also includes a tool support 18. In some examples, if the tool 20 is a saw blade 380, The tool support 18 may also be called the blade support. The method of operating the instrument 14 is as follows: To suspend the weight of the device 14 from a movable arm or robotic arm without any assistance. It may include. Alternatively, the weight of the device 14 is such that the user does not need to support the total weight of the device. To avoid this, by using a balanced passive arm, auxiliary device, or active robot arm... It may also be supported. In such cases, the user may interact with the device 14 or the device 14 The handheld portion 16 may still be held in order to guide the device. (Kang et al., U.S. 9) The passive arm and contents of Patent No. 060,794 constitute part of this specification by reference. In addition, in some examples, the robot system 10 has two or more components in series. A robotic arm with segments is not required.

[0015] Tool 20 is coupled to tool support 18 and further to a certain robot system 10, which will be described later. It interacts with anatomical structures during specific movements. Tool 20 is also an end effector. It may be called. Tool 20 can be fitted with a new tool or a different tool 20 when needed. The tool 20 may be removable from the tool support 18 so that it can be removed. The tool 20 may be permanently fixed to the tool support 18. The tool 20 comes into contact with the patient's tissue 12. It may include an energy applicator designed to do so. In some examples, The part 20 may be a saw blade as shown in Figures 1 and 2, or other types of cutting accessories. In such examples, the tool support may also be called the blade support. Even in cases where it is the case, it can be replaced with the term "tool support," and vice versa. It should also be understood that the same applies. However, by quoting this specification The contents of Bozung's U.S. Patent No. 9,707,043, which form part of this document, and other related documents. You may consider using a drill bit, ultrasonic vibrator, etc. It may also be a pliers, bar, stapler, etc. Tool 20 is described herein by reference. Walen et al.'s U.S. Patent No. 9,820,753 or U.S. Patent No. 10, which shall be part of the above. As shown in Patent No. 687,823, a blade assembly and drive motor that cause the blade to vibrate These drive components may include a drive motor M that transmits rotational motion to tool 2. It may also include a transmission device TM coupled to a drive motor M that converts the motion into vibrational motion of 0.

[0016] Filed on July 15, 2020, for "Robotic Handheld Surgical Instrument Systems" The system described in PCT / US2020 / 042128, titled "and Methods" The methods and other details also constitute part of this specification by reference.

[0017] An actuator assembly 400 including one or more actuators 21, 22, 23 The tool support 18 is moved with 3 degrees of freedom relative to the handgrip portion 16, allowing the user to move the handgrip portion While holding 16, move tool 20 to the desired position or orientation (for example, the femur during excision) Provides robotic motion to assist in positioning the F, tibia T, or both in a desired posture. The actuator assembly 400 is arranged in parallel, in series, or in a combination thereof. It may also include actuators 21, 22, and 23. In some examples, actuator 21 22 and 23 move the tool support 18 with three or more degrees of freedom relative to the handgrip portion 16. In some examples, the actuator assembly 400 controls at least pitch and z-axis translation, etc. It also has two degrees of freedom and is configured to move the tool support 18 relative to the handgrip portion 16. In some examples as shown herein, actuators 21, 22, and 23 are tools Support 18 and its associated tool support coordinate system TCS, Handheld portion 16 and its associated It moves with only 3 degrees of freedom relative to the base coordinate system BCS. For example, the tool support 18 and The tool support coordinate system TCS rotates around its y-axis to provide pitch motion, and the x-axis It rotates around the axis Z, which coincides with the z-axis of the base coordinate system BCS, providing a rolling motion. It may also provide z-axis translational motion by translating. Allowances in pitch, roll and z-axis translation The motion is shown in the schematic diagrams in Figure 2, and Figures 3A-3C, 4A-4C, and 5A-5C. Each is indicated by an arrow. Figure 6 shows the tool support 18 within the range of motion of the instrument 14. An example of the posture of the hand part 16 is shown. In some examples not shown in the figure, Even if the cutter moves the tool support 18 with more than 4 degrees of freedom relative to the handgrip portion 16 good.

[0018] Returning to Figure 2, the movement of the tool support 18 relative to the handgrip portion 16 in the remaining 3 degrees of freedom. To restrict movement, a constraint assembly 24 having a passive coupling mechanism 26 may be used. The constraint assembly 24 is any preferred coupling mechanism that restricts motion as described herein. (For example, one or more links having any preferred shape or configuration) may be included. Figure 2 In the example shown, the constraint assembly 24 constrains the yaw motion in the base coordinate system BCS. To restrict rotation around the z-axis and to restrict translation along the x-axis, the base coordinate system BCS To constrain translation in the x-axis direction and to constrain translation in the y-axis direction of the base coordinate system BCS By restricting axial translation, the motion of the tool support coordinate system TCS is limited. It operates. Actuators 21, 22, 23 and constraint assembly 24 are further described below. In certain situations, the function of physical cutting guides, such as physical saw cutting guides, is effectively utilized. It is controlled to imitate.

[0019] Referring to Figure 7, the control system may include an appliance controller 28, or other A control unit of this type is provided to control the appliance 14. Appliance controller 28 This refers to one or more computers, or the operation of the instrument 14 and the tools for the handheld part 16. Any other suitable form of controller that directs the movement of the support 18 (and tool 20) It may include. The device controller 28 is a central processing unit (CPU) or other processor. It may have memory and storage devices (not shown). The device controller 28 may have a rear The software described above is loaded. The processor controls the operation of the device 14. It may include one or more processors. The processors are of any type of microprocessor. It may be a multi-processor or multi-core processing system. (Device controller) 28. Additionally or alternatively, one or more microcontrollers, field programmers Bullgate array, system-on-chip, discrete circuit, or as described herein Other suitable hardware, software, or firmware capable of performing the function The term "processor" may include a single processor in any embodiment. It is not intended to be limiting. Also, the device 14 has one or more displays or inputs. Force devices (e.g., triggers, push buttons, foot switches, keyboards, mice, etc.) Users with a cross-phone (voice-activated), gesture control device, touchscreen, etc. It may include an interface (UI).

[0020] The control system 60 includes one or more software programs and software modules. It further includes the following. The software module assists in controlling the robot system 10. To process the data, the navigation controller 36, the equipment controller 28 or It may be part of one or more programs that operate on both. The module is either the device controller 28 or the navigation controller 36. As executed by the processor 70, the navigation controller 36, instrument Computer-readable instructions stored in the controller 28 or both of the non-temporary memories 64 Includes. Memory 64 may be any preferred configuration of memory such as RAM or non-volatile memory. It may be implemented locally or from a remote server. Furthermore, it may prompt or... A software module that communicates with the server forms part of one or more programs. Often, the navigation controller 36, the equipment controller 28, or both memory 64 It may include instructions stored in the navigation user interface UI. Or interact with any of the input devices of other user interface UIs. The software module may communicate with the user interface software. It is executed on a device separate from the navigation controller 36 or the device controller 28. That's fine.

[0021] The instrument controller 28 controls the cutting motion of the tool 20 (for example, the cutting motion of the tool 20) Controlling the power to the drive motor M and the tool support 18 relative to the handgrip portion 16 Controlling movement (for example, by controlling actuators 21, 22, and 23) The operation of the tool 20 is controlled by the following. The instrument controller 28 controls the handheld portion 16. The device controls the state (e.g., position or orientation) of the tool support 18 and the tool 20. Controller 28 controls velocity (linear or angular), acceleration, or actuators 21, 22, 23 The tool 20 against the handle portion 16 or against the anatomical structure caused by Other derivatives of the movement can be controlled. Visual indicators are available on the tool support or handheld. In the case of an embodiment of a visual indicator that is coupled to a part, the device controller is the visual indicator The dicators may be controlled. However, in some alternative forms, within the control system Different processors may control the visual indicators.

[0022] As shown in Figure 2, the instrument controller 28 is connected to the tool support 18 or the handle portion 1 6 or a combination thereof may be provided with a control housing 29 attached thereto Inside the ring 29 is one or more control boards 31 (for example, one or more printed circuit boards and Related electronic components are located on the control board 31. Actuators 21, 22, 23 and a microcontroller that controls the drive motor M (for example, via a motor controller) Roller, Field Programmable Gate Array (FPGA), Driver, Memory, Sensor It may also be equipped with a s or other electronic components. Furthermore, the device controller 28 is separate from the device. It may also be the case that the control console 33 communicates with the control board 31 for data and power communication. It may be provided with the sensor S, actuators 21, 22, 23 or The drive motor M may supply signals to the control board 31, and the control board 31 processes the data signals. For the purpose of the signal, it is sent to console 33, and console 33 controls actuators 21, 22, 2 3. To supply power to the drive motor M and control them, the control board 31 has control components Commands (for example, current command, torque command, speed command, angle command, position command) Along with the brand or a combination thereof, various control and configuration parameters are fed back. The process may also be performed on the control board(s) of the control housing. This is intended. In some cases, the control algorithm between the console and the control housing The processing of the Zoom can be distributed. In one example, the calculations for position control and velocity control are performed on the console. It can also be done this way, and current control is performed by a field-programmable gate located in the control housing. It can also be done with a tor array. Naturally, a separate control housing is not required, or The intention is that the principle can be executed in any number of different locations.

[0023] In some versions, console 33 is connected to actuators 21, 22, 23 and It also includes a single console that supplies power to the drive motors M and controls them. Good. In some versions, console 33 is connected to actuators 21, 22, and 23. A single console that supplies power to and controls them, and powers the drive motor M. It may also include a separate console that supplies and controls power to the drive motor M. One such console that supplies and controls it, by quoting this The following is part of the specification: "Control Console to which Powered Surgical Handpi eces are Connected, the Console Configured to Simultaneously Energize more than A patent application filed on September 30, 2004, titled "one and less than all of the Handpieces" This may be something like what is described in U.S. Patent No. 7,422,582. Flexible circuits FC, also known as flex circuits, are used by actuators 21, 22, and 23. Alternatively, other components may be interconnected with the device controller 28. For example, flexible The circuit FC may be provided between the actuators 21, 22, and 23 and the control board 31. Additionally or alternatively, other forms of wired or wireless connections may exist between the components.

[0024] Referring again briefly to Figure 1, the robot system 10 is a navigation system 32 This further includes. One example of the navigation system 32 is provided herein by reference. It shall form part of "Navigation System Including Optical and Non-Optical Sensing U.S. Patent No. 9,008,757, filed on September 24, 2013, is titled "ors". It is described that the navigation system 32 tracks the movement of various objects. Examples of the objects included are, for example, the instrument 14, the tool 20, and anatomical structures, such as the femur F and The tibia T is an example. The navigation system 32 tracks these objects, (na (Vision) Collects state information of each object relative to the localizer coordinate system LCLZ. The state of the target used is not limited to, but includes the location, orientation, or both of the tracked target. Data that defines it (e.g., its coordinate system), or equivalents / derivatives of position, orientation, or both. Includes objects. For example, the state may be the orientation of the object, or linear velocity data, angular velocity data. It may include things like DATA.

[0025] The navigation system 32 controls the navigation controller 36 or other types of controls It may include a cart assembly 34 for housing the unit. Navigation user input The Toughface UI communicates operationally with the navigation controller 36. The user interface UI includes one or more displays 38. The stem 32 uses one or more displays 38 to show the relative state of the tracked object. A graphical representation of this can be displayed to the user. Navigation user interface The face UI inputs information to the navigation controller 36, or by other means. One or more inputs for selecting / controlling a specific aspect of the navigation controller 36 This includes a device that further includes an interactive touchscreen display. Hmm. However, input devices include push buttons, pointers, foot switches, and keyboards. Any one of the following: mouse, microphone (voice-activated), gesture control device, etc. The above may also be included. In some examples, the user uses a button located on the pointer. Then, navigate and select through the icons and menus of the user interface UI. You may then configure the robot system 10 or proceed with the workflow. (See below for details.) In addition, any of the visual indicators, including the display screen, among the display 38 One or more of these may be displayed on the navigation user interface UI.

[0026] The navigation system 32 is coupled to the navigation controller 36 This also includes the Liza 44. In one example, the Localizer 44 is an optical localizer, and the camera Includes a rear unit 46. The camera unit 46 houses one or more optical sensors 50. It has a side casing 48. The localizer 44 has its own localizer controller. It may also be equipped with a 49, and may further be equipped with a video camera VC.

[0027] The navigation system 32 includes one or more trackers. In some examples, the tracker The trackers include the pointer tracker PT, the tool tracker 52, the first patient tracker 54, and Includes 2 patient trackers 56. In the example illustrated in Figure 1, the tool tracker 52 is instrument 14 The first patient tracker 54 is firmly attached to the femur F of patient 12. The second patient tracker, tracker 56, is firmly attached to the tibia T of patient 12. In this example, patient trackers 54 and 56 are firmly attached to the bone. 52, 54, 56 and the pointer tracker are their respective targets (e.g., bone, toe). The system (L) and the navigation system 32 are registered manually, automatically, or in combination thereof. It is rationed. In some examples, the pointer tracker PT is firmly fixed to pointer 57. The anatomical structure is pasted and placed in one or more coordinate systems, including the localizer coordinate system LCLZ. Used for distorting or other calibration and registration functions It is used for this purpose. In one example, pointer 57 is used to track patient trackers 54 and 56. Register the Tracker 54 and 56 to the bones, respectively, and then use the tool. Lacquer 52 (and optionally 53) is attached to the tool support 18, tool 20, and handle portion 16. Alternatively, a combination of these may be registered. In some examples, pointer traces Using the PT, the TCP of instrument 14 is set to tool tracker 52 relative to the tracker coordinate system. Registration may be performed. In this way, the localizer 44 is moved from position to position. If so, the registration of the instrument 14 is positioned relative to the tool tracker 52. However, other means of registration for trackers 52, 54, and 56 are being considered. This may be implemented together with or separately from the pointer tracker PT. Other tracker locations are also intended. It will be done.

[0028] Throughout this specification, various methods such as "from bone to tracker" or "from instrument TCP to tracker" are described. This transformation, that is, not with respect to the camera coordinate system (C), but with respect to the "tracker coordinate system". The transformation is described. The localizer coordinate system is measured relative to C for all tracked objects. Therefore, it may be used as an intermediate coordinate system during registration and bone preparation. During the process, various localizer reference postures are ultimately mathematically combined, and the register The registration results depend on the camera (i.e., C) moving. It is stored "based on the tracker" so that it remains valid.

[0029] The tool tracker 52 may be attached to any suitable component of the fixture 14, and several In that version, the handle part 16, tool support 18, and tool 20 are attached directly, or to each other. These can be attached in combination. Trackers 52, 54, 56, and PT are fasteners and clamps. Each component may be fixed in any preferred way, such as by a tracker. 52, 54, 56, PT are the relationship of their respective trackers to the relevant object (measurement) ) may be rigidly fixed or flexibly connected, as long as there is a suitable (supplementary) method for determining ). Often (optical fiber), or no physical connection at all (ultrasound). Tracker Any one or more of 52, 54, 56, and PT may include the active marker 58. The active marker 58 may include a light-emitting diode (LED). Alternatively, The lacca units 52, 54, 56, and PT reflect the light emitted from the camera unit 46. It may have passive markers such as projectiles. It may also have printed markers or as specified herein. Other suitable markers not specifically mentioned may be used.

[0030] Various coordinate systems may be used for the purpose of tracking the target. For example, the coordinate system may be locala Iza coordinate system C, tool support coordinate system TCS, base coordinate system BCS, trackers 52, 54, 56. Coordinate systems associated with each PT, one or more coordinate systems associated with anatomical structures, surgery Pre-operative or intraoperative images (e.g., CT images, MRI images, etc.) or models of anatomical structures (e.g.) For example, one or more coordinates related to a 2D or 3D model (e.g., an implant coordinate system). The system may include the TCP (Tool Center Point) coordinate system, etc. In some examples, the robot System 10 performs preoperative or intraoperative imaging to create a 2D or 3D model of the target bone. It does not depend on the target solution. Rather, the robotic system uses a pointer tracker PT to find the target solution. Registering anatomical structures and incorporating various anatomical landmarks without imaging It may be used in the system, and the acquired data is taken by the control system 60. The nominal bone model is processed to morph to match the imported data. In other cases, preoperative and intraoperative imaging are used to image the target area of ​​the patient, and then 2D or Convert the 3D image into a 3D model of the target bone. The robotic system 10 converts the 3D image into a 3D model of the target surgical area. When creating a D model, you may use a combination of procedures with and without imaging. It is also intended that one exemplary system is described herein by reference. It is described in U.S. Patent No. 8,617,174 as forming a coordinate system in various coordinate systems. The coordinates are obtained, for example, through registration, calibration, geometric relationships, measurement, etc. Transformations may be used to change between coordinate systems when establishing relationships between systems.

[0031] As shown in Figure 2, in some examples, TCP is defined at the distal end of tool 20. It is a predetermined reference point or origin in the CP coordinate system. The geometric shape of tool 20 is in the TCP coordinate system. It may be defined relative to or relative to the tool support coordinate system TCS. Tool 20 is defined relative to TC Defined with respect to the P coordinate system or the tool support coordinate system TCS, the control of the instrument 14 Control board 31, navigation system 32, and equipment controller 28 within the woofer 29. Alternatively, one or more geometric features, such as the perimeter, stored in non-volatile memory, or a combination thereof. Circumference, radius, diameter, width, length, height, volume, area, surface / plane, (one or more of these) It may include range of motion envelopes (along the axis), etc. The tool center point (TCP) is, in one example... , a predetermined reference point and corresponding coordinate system defined in tool 20. TCP is a different coordinate system. It has a known or computable (i.e., not necessarily static) attitude toward the system. The TCP coordinate system consists of an origin and a set of axes that define the orientation of TCP (e.g., x-axis, y-axis, z-axis). ) and includes. By tracking TCP (or knowing the state of TCP), robotics Tem 10 determines the TCP's orientation and the known positional relationship between the TCP and the features of the device 14. The position and orientation of tool 14 may be calculated. In some examples, the tool 20 has a cutting surface (for example) For example, in the case of a saw blade, it has a tangential (which is described for convenience and ease of illustration). It is not intended to limit Ru20 to any particular form. Tool 20 can be virtually represented using IVs, meshes, and other 3D models. The origin of the TCP coordinate system is traced relative to the origin on the distal tip of tool 20. Therefore, it may be located at the spherical center of the bar of tool 20 or at the distal end of the saw blade 27. Alternatively, TCP may be tracked using multiple tracked points. TCP uses Tool 20 Depending on the configuration, it may be defined in various ways. The device is a joint / motor encoder, or other Any non-encoder position detection method may be employed, and therefore the control system 60, The orientation or position of the TCP relative to the handle portion 16 and BCS may be determined. Tool support Body 18 may use joint measurements to determine the posture of TCP, or the posture of TCP A technique for directly measuring momentum can be employed. The control of tool 20 is limited to the center point. No. For example, you can represent tool 20 using any suitable primitive, mesh, etc. TCP can be defined as a point, as opposed to a coordinate system. This should be understood. The TCP coordinate system was used to determine the orientation of the saw blade or other tool. Later, any necessary reference points or geometric configurations of the tool can be calculated.

[0032] The TCP coordinate system, the tool support coordinate system TCS, and the coordinate system of the tool tracker 52 are: It can be defined in various ways depending on the configuration of L20. For example, pointer 57 is The tool tracker 52, along with the calibration divot CD in the tool support 18 or tool 20. The orientation of the tool support coordinate system TCS relative to the coordinate system is registered (calibrated), and the tool Determine the orientation of the TCP coordinate system relative to the coordinate system of the Lutrakka 52, or the tool support coordinate system It may be used to determine the orientation of the TCP coordinate system relative to the TCS. Other techniques may be used. And, for example, attaching and securing one or more additional trackers / markers directly to tool 20. This allows for the direct measurement of the attitude in the TCP coordinate system. In some versions, The tracker / marker can also be attached and secured to the handle portion 16, the tool support 18, or both. This is also permissible. If the handheld portion includes a tracker, use the localizer / camera coordinate system LCT. The orientation of the handheld part relative to Z may be measured directly. In other alternative configurations, the intermediate tool TCP may be defined for the tool tracker using the TCS coordinate system.

[0033] The tool support 18 is connected to the handgrip portion 16 via actuators 21, 22, and 23. Because it can move with multiple degrees of freedom, the device 14 is an encoder, (analog or digital output A Hall effect sensor (with force) or any other arbitrary position detection method is employed to determine the base coordinate system The orientation of the TCP coordinate system or the tool support coordinate system TCS relative to the BCS may be measured. In one example, the device 14 operates actuators 21, 22, and 23, as will be described later. Using measurements from sensors, the TCP coordinate system is used relative to the base coordinate system BCS. This may determine the orientation of the tool support coordinate system TCS.

[0034] Localizer 44 monitors trackers 52, 54, 56, and PT (for example, its coordinate system). After tapping, the status of trackers 52, 54, 56, and PT is determined, and that status is , each corresponds to the state of the object to which it is attached. Localizer 44 is Trackers 52, 54, 56, PT, and related subjects (tools, patients, tool supports and Known techniques may be used to determine the state of the handle and other parts. 44 provides the status of trackers 52, 54, 56, and PT to the navigation controller 36. Provides. In some examples, the navigation controller 36 provides trackers 52, 54, 56. Determine the status of the PT and communicate it to the device controller 28.

[0035] The navigation controller 36 is controlled by one or more computers or any other suitable The configuration may include a controller. The navigation controller 36 is a central processing unit. The processor has a CPU or other processor, memory and storage device (not shown). This applies to any type of processor, microprocessor, or multiprocessor system. It is possible. The navigation controller 36 has software loaded. The software, for example, uses the signal received from the localizer 44 to determine the location of the object being tracked. Alternatively, it converts the data to represent orientation. The navigation controller 36 provides additional or alternative data. Specifically, one or more microcontrollers, field-programmable gate arrays, and systems. A TEM-ON chip, discrete circuit, or capable of performing the functions described herein can It may also include other suitable hardware, software, or firmware. The term "processor" is intended to limit any embodiment to a single processor. I haven't done that.

[0036] One example of the navigation system 32 is shown to determine the state of the target, but the navigation The tracking system 32 tracks the instrument 14, tool 20, or any other suitable device for tracking the patient 12. It may have such a configuration. In another example, the navigation system 32 or localizer 44 is ultrasonic-based. For example, navigation system 32 is navigation The controller 36 may include an ultrasound imaging device. The ultrasound imaging device is as described above. Image any of the following objects, for example, instrument 14, tool 20, or patient 12, and A status signal is generated to the navigation controller 36 based on the sound wave image. The image may be 2D, 3D, or a combination of both. The navigation controller 36 Images may be processed in near real-time to determine the state of the subject. Ultrasound imaging The device may have any preferred configuration, and may differ from the camera unit 46 shown in Figure 1. It may be something else.

[0037] In another example, the navigation system 32 or localizer 44 uses radio frequencies (RF). ) is based on. For example, the navigation system 32 is a navigation controller 36 may be equipped with an RF transceiver coupled to it. Instrument 14, tool 20 or patient An RF emitter or transponder may be attached to 12. The responder may be energized passively or actively. The RF transceiver transmits the RF tracking signal. The navigation controller 36 transmits and receives the RF signal from the RF emitter. A status signal is generated. The navigation controller 36 analyzes the received RF signal. And a relative state may be associated with it. The RF signal is at any suitable frequency. It is acceptable. RF transceivers can be used to effectively track targets using RF signals. It may be positioned in a suitable location. Furthermore, the RF emitter or transponder is shown in Figure 1. Any suitable structural configuration may be quite different from the trackers 52, 54, 56, PT shown. It may have a configuration.

[0038] In yet another example, the navigation system 32 or localizer 44 is electromagnetically based For example, the navigation system 32 is connected to the navigation controller 36. It may include a combined EM transceiver. Optionally, on the instrument 14, tool 20, or patient 12. Suitable EM components such as magnetic trackers, electromagnetic trackers, and inductive trackers may be attached. The tracker may be energized passively or actively. The EM transceiver transmits the EM field The navigation controller 36 generates and, based on the EM signal received from the tracker, A status signal is generated. The navigation controller 36 analyzes the received EM signal. And a relative state may be associated with it. In this case as well, the navigation system Example M32 has a different structural configuration from the navigation system 32 shown in Figure 1. It's okay to do so.

[0039] Navigation system 32 may also include any other preferred system not specifically described herein. It may have components or structures. Furthermore, the illustrated navigation system 32 Any of the techniques, methods, or components described above may be used in the Navigation described herein. Any other example of the 32 system may be implemented or provided. For example, the navigation system 32 may use inertial tracking alone, or any combination of tracking techniques. You may use, in addition to or as an alternative, fiber optic-based tracking, machine vision tracking, etc. It may include.

[0040] Referring to Figure 7, the robot system 10, among other components, is particularly the instrument The system includes a control system 60 comprising a controller 28 and a navigation controller 36. The control system 60 includes one or more software programs and software modules. Furthermore, the software module assists in controlling the robot system 10. To process the data, the device controller 28, navigation controller 36 or so It may be part of one or more programs that operate on these combinations. The program or module is controlled by one or more processors 70 of the device controller 28. The device controller 28, navigation controller 36, or so that it is executed in this manner. These combinations include computer-readable instructions stored in memory 64. Memory 64 is This may be any suitable memory configuration, such as non-temporary memory, RAM, or non-volatile memory. It can be implemented locally or from a remote database. Furthermore, it may prompt the user or Alternatively, a software module that communicates with the user may form part of one or more programs. It may also be done by using an instrument controller 28, a navigation controller 36, or a combination thereof. It may also include instructions stored in memory 64 above. The user may use a software module. To communicate with the navigation user interface UI or other user interfaces, You may interact with any of the input devices in the face UI. The face software is connected to the device controller 28 or the navigation controller 36. This may be performed on a separate device. Device 14 is connected via power connection, data connection, or both. The device controller 28 may communicate with the device controller. Power connection, data connection, or both are shown in Figure 7, B As shown as US / COMM connection 37, generated by the navigation system 32 The device controller 28 controls the device 14 based on the position and orientation data transmitted to it. Paths for inputs and outputs used for this purpose may be provided.

[0041] The control system 60 is an input device suitable for performing the functions and methods described herein. The control system may also be provided with any preferred configuration of the chair, output device and processing device. Stem 60 includes the fixture controller 28, the navigation controller 36, or a combination thereof. It may have a combination, or only one of these controllers, or additional It may also be equipped with a controller. The controller is connected via BUS / COMM connection 37 in Figure 7. As one example, via a wired bus or communication network, or via wireless communication Communication may be conducted by other means. The control system 60 may also be referred to as a controller. The control system 60 includes one or more microcontrollers, field programmers, and Arrays, systems on chips, discrete circuits, sensors, displays, user Interfaces, indicators, or other functions that can be performed as described herein. It may include suitable hardware, software, or firmware.

[0042] (Equipment) In one exemplary configuration, Figures 8 and 9 best illustrate one exemplary device 14. The device 14 has a handheld portion 16 for the user to hold and a handheld portion to support the tool 20. A tool support 18 is movably connected to part 16, and the tool support 18 is attached to the hand part The tool support 18 and the handle portion 16 are moved with at least 3 degrees of freedom relative to 16. An actuator having multiple actuators 21, 22, 23 that are interconnected in an operational manner. A passive linkage is used to operatively interconnect the senburi 400, the tool support 18, and the handle portion 16. It comprises a constraint assembly 24 having a connection mechanism 26. Specific robotic devices are shown in the diagram. Although described herein, the visual indicators described herein have different degrees of freedom than the device 14. It may be used in any multi-degree-of-freedom robotic surgical instrument, including those that have multiple degrees of freedom.

[0043] The handle portion 16 is often used by the user to operate, guide, or grasp the device 14. It is equipped with a grip 72 for the user to hold so that it can do so. The handgrip portion 16 is for the user The grip held by the hand, prevents the user's hand from slipping when wet or bloody. It has ergonomic features such as a textured coating or mixed material coating to prevent damage. It may be configured in such a way. The handle portion 16 is designed to accommodate users with different hand sizes. It may include a tapered contour that matches the contour of the user's hand or fingers. Handgrip portion 1 6 is a base to which the grip 72 is attached by one or more fasteners, adhesives, welds, etc. It also has 74. In the illustrated version, the base 74 has a generally hollow cylindrical shape. It includes a sleeve 76. From the sleeve 76, joint supports 77, 78, and 79 extend. Actuators 21, 22, and 23 are located in joint supports 77, 78, and 79, and are further located in the joint supports 77, 78, and 79. It may be movably connected to the base 74 via the joint described above.

[0044] The tool support 18 includes a tool support body 80, which has one or more mounting locations 82 The tool tracker 5 is connected to the tool support 18 via one or more tracker mounting fixtures. 2 can be fixed or detachably mounted. In one example, tool tracker 5 2 is integrated with the tool support 18. In another example, the tool tracker 52 is one It can be removably mounted to the above mounting location 82. Tool 20 is the version shown in the illustration. It is detachably coupled to the tool support 18. In particular, the tool support 18 is quoted Walen et al.'s U.S. Patent No. 9,820,75, which by this means shall form part of this specification. As described in item 3, tool connectors such as head 84 to which tool 20 is attached. The head 84 is equipped with a sagittal saw blade or saw blade cartridge, similar to a vibrating saw blade. It may be configured to be used. The drive motor M that drives the operation of tool 20 is (for example) (In some versions, it is placed on the tool support 80 to drive the vibration of the saw blade) Tool 20 is incorporated herein by reference by Walen et al. When attached to the head 84 in the manner disclosed in U.S. Patent No. 9,820,753, It may also be released from the head 84. As best shown in Figure 9, the tool support 18 is Furthermore, as will be described later, actuators 21, 22, and 23 connect to the tool support 18 via joints. It also includes several actuator mounting fixtures 86, 88, 90 which are to be movably coupled. The cutter attachments 86, 88, and 90 have a tool support 18 that is slightly smaller than the handle portion 16. Actuators 21, 22, and 23 are attached so that it can move with at least 3 degrees of freedom. It may include brackets and the like, which are suitable for this purpose.

[0045] Actuators 21, 22, and 23 are supported by the base 74 and tool support in the illustrated version. Includes an electric linear actuator extending between the body 80 and the actuator. When activated, the actuator The effective length of actuators 21, 22, and 23 changes, affecting the corresponding axes of actuators 21, 22, and 23. The distance between the tool support 80 and the base 74 is changed accordingly. Therefore, the control system The system 60 provides each actuator 21, 22, and 23 respectively to the control system 60. In response to the individual inputs received, their effective lengths are changed, and the handheld portion 16 is slightly At the very least, the actuator moves the tool support 18 to the target position using 3 degrees of freedom. Commands are given to operate in conjunction with 21, 22, and 23. In the illustrated version, 3 There are three actuators 21, 22, and 23, the first actuator 21, the second The second actuator 22 and the third actuator 23, or the front actuator 21, They may also be called 22 and rear actuator 23. First actuator 21, second actuator The actuator 22 and the third actuator 23 are connected to the first active axis AA1 and the second active axis The effective length is adjustable along AA2 and the third active axis AA3 (see Figure 9). Actuator 21, the second actuator 22, and the third actuator 23 are as described above. As described above, the pitch orientation of the tool support 18 relative to the handgrip portion 16, the roll orientation and The effective length can be adjusted independently to adjust one or more of the z-axis translation positions. In some examples, more actuators may be provided. In some examples, rotary actuators may be included. Actuators 21, 22, 23 It may include a connecting mechanism having one or more links of any preferred size or shape. Actuators 21, 22, and 23 have at least three degrees of freedom relative to the handheld portion 16. It may have any configuration suitable for enabling the movement of the support 18. For example, In some versions, there is one front actuator and two rear actuators, or There may be some other arrangement of the actuators.

[0046] In this version, actuators 21, 22, and 23 are connected via multiple active joints. The joint is connected to the actuator mounting fixture 86. A set of actuators 21, 22, and 23 are connected to the tool support 80 at 88 and 90. It includes the first active joint 92. In one version, as shown in Figure 9, the first active joint Section 92 includes an active universal joint. The universal joint comprises a first pivot pin 94 and a joint block. Including 96. The first pivot pin 94 is connected through the through bore 98 of the joint block 96. The hand block 96 is pivotably connected to the actuator mounting fixtures 86, 88, and 90. The first pivot pin 94 is fixed to the actuator mounting fixtures 86, 88, and 90. The universal joint may also include a second pivot pin 104. Joint block 9 6 has a cross bore 102 for receiving the second pivot pin 104. The top pin 104 has a through bore 103 that receives the first pivot pin 94, and the first pivot The pivot pin 94, the joint block 96, and the second pivot pin 104 form a cross shape of the universal joint. The first pivot pin 94 and the second pivot pin 104 of each universal joint are The intersecting pivot axis PA is defined. The second pivot pin 104 is connected to the actuator 21 The pivot yokes 22 and 23 of the pivot yoke 106 are pivotably connected to the joint block 96. As a result, actuators 21, 22, and 23 move with 2 degrees of freedom relative to the tool support 80. Other types of functional joints include active spherical joints that include a ball with a slot for receiving a pin. Articulated joints are also intended.

[0047] Referring to Figure 9, the active joint has two actuators 21 and 22 at the front of the hand part It also includes a pair of second active joints 108 that connect to the 16 bases 74. In the illustrated version... The second active joint 108 is supported by joint supports 77, 78. Each of the 108 has a swivel axis SA at the center and a base 7 of the handle part 16. Includes a swivel yoke 110 positioned to rotate relative to 4. The swivel yoke 110 consists of a swivel head 112 and a swivel head 1 Extending from 12, it pivotably engages with base 74 in one of the joint supports 77, 78. It has a pivotally engaging post 114. A nut 115 is attached to the post 114. One end is screw-type connected, capturing the post 114 on the base 74, while each side The yvel yoke 110 can rotate freely within its respective joint supports 77, 78. Make it so that it can be done.

[0048] Each of the second active joints 108 is pivotable to one of the swivel yokes 110 It is equipped with a coupled carrier 116. The carrier 116 is further described later, with two front parts. Internal threaded through bore to receive the feed screws 150 of the actuators 21 and 22. It has a threaded throughbore (117). Each of the carriers 116 has a swivel By sitting in the pocket inside the 110, the carrier 116 swivels into the yoke 11 Opposing to allow pivoting around the pivot axis PA (see Figure 9) relative to 0, It also has a lannion 118. In some versions, the second active joint 10 For each of the 8, the swivel axis SA intersects with the pivot axis PA, and the actuator Define a single vertex that is the center when vertices 21 and 22 move with 2 degrees of freedom.

[0049] The cover is fastened to the swivel head 112, defining one side of the pocket, and the other side... Bellhead 112 defines the other pocket. During assembly, the carrier first, trunn One of the ONs is positioned with the pocket inside the swivel head 112, and then Then the carrier is caught between the cover and the swivel head 112, and the trunnion and pocket The cover is on the other side so that it can pivot relative to the swivel yoke 110 via the net. It is fastened onto the trunnion. The configuration of the swivel yoke 110 and associated carrier, that is The carrier rotates around the swivel axis SA and pivots around the pivot axis PA. By enabling this, the second active joint 108 has two anterior parts relative to the base 74 This enables two degrees of freedom of movement for actuators 21 and 22. Other joint configurations are also possible between joints 21, 22 and base 74.

[0050] The active joint also connects the rear (third) actuator 23 to the base 74 of the handgrip portion 16. This also includes a third active joint 124 that connects. In the illustrated version, the third active joint 124 It is supported by the joint support 79. The third active joint 124 is supported by the joint support of the base 74. It is equipped with a pivot housing 126 fixed to the body 79.

[0051] The third active joint 124 is pivotable to the pivot housing 126 via a trunnion. It has a coupled carrier. A fastener with a pocket engages with the trunnion. It is attached to both sides of the pivot housing 126 via a through bore. The fastener is a carrier A can pivot via a trunnion located inside the pocket after assembly. It is positioned as follows: The carrier is controlled by the feed screw of the rear actuator 23, as will be described later. It has a through bore with internal threads to receive 150. Pivot housing 126 and associated key The carrier configuration, that is, the related carriers pivot only around the pivot axis PA. By being able to (for example, not to rotate), the third active joint 124 is connected to the base 74 This allows the rear actuator 23 to move with only one degree of freedom relative to the rear actuator. Other joint configurations are also possible between Ta23 and Base74.

[0052] Each of the actuators 21, 22, and 23 is provided with a housing. The housing is It comprises a canister and a cap screw-type connected to the canister. First active joint 9 The pivot yoke 106, which forms part of 2, is the housing and the pivot yoke 106 The active joint 92 can move together with the tool support 18, It is fixed to the wedge. The cap captures the annular shoulder of the pivot yoke 106, Secure the pivot yoke 106 to the canister.

[0053] In some versions, the pivot yoke 106 and canister are each pivot yoke To align the Ku 106 to each of its canisters in a predetermined relative orientation. It comprises one or more alignment mechanisms, such as a mating portion and a key / keyway. This may include the following. During assembly, the pivot yoke 106 first, its predetermined relative It may be fixed to the canister in a specific orientation, and then the cap is attached to the canister (for example, The pivot yoke 106 is screwed in (through the mating male and female threads) The canister may capture the ball in a relative orientation. This predetermined relationship is flex rotation. When wiring or aligning the road FC, the rotation of the pivot yoke 106 relative to the canister It may be useful for prevention or for other purposes.

[0054] Actuators 21, 22, and 23 each have motors located within their respective housings. To prepare. The motor consists of a casing located inside the housing and a motor located inside the casing. It includes a motor winding assembly. The motor winding assembly also includes the fasteners described above, etc. A predetermined relative direction to the canister via a screw or other alignment mechanism, etc. The position may be adjusted as needed. Each motor also has a rotor fixed to the lead screw 150. The screw 150 rotates within the housing by one or more bushings or bearings. The rotor and associated feed screw 150 are supported in such a manner when the motor is selectively energized. It is configured to rotate relative to the housing. The lead screw 150 is backdrive They have fine pitch and lead angles to prevent overflow (i.e., they self-lock is a hook type). As a result, the load on the tool 20 does not easily backdrive the motor. In some examples, the feed screw 150 provides a lead of 0.02 inches (0.508 millimeters) / revolution to 0.03 inches (0.762 millimeters) / revolution and has a class 3 thread of 8 to 36. Other thread types or sizes may be employed. Each of the actuators 21, 22, 23 may be controlled by a separate motor controller. The motor controller may be separately wired to each of the actuators 21, 22, 23 to individually direct each actuator 21, 22, 23 to a given target position. In some examples, the motor controller is a proportional integral derivative (PID) controller. In some examples, the motor controller may include a cascade control loop for position, velocity, and torque (current). Additionally or alternatively, the motor controller may include only a torque (current) control loop. In another example, the position control loop may input directly into the torque (current) control loop. Each of these control stages may be implemented as a PID controller, a state space controller, or utilize alternative or additional control techniques (e.g., velocity feedforward, torque feedforward, etc.). In some cases, the torque (current) control loop is implemented using field oriented control and space vector modulation. The stages of the control loop can be distributed among various components of the system. In some examples, the position loop and the velocity loop are implemented in the appliance controller, and the torque control loop is part of the control housing 29 on the appliance 14.

[0055] ​​​​​​​​​​​​​​​It is directly mounted on the control board 31, and the current control loop is controlled via the console 33. Since no data feedback is required, the connection from the device 14 to the console 33 is also not needed. This reduces the impact of data communication latency. The position control loop and speed control loop communicate Because it is not very susceptible to latency, it can be implemented on console 33. In some cases, the motor controller can be integrated with the equipment controller 28. It can form a part of the device controller 28. In this specification, the motor controller is considered to be part of the appliance controller 28. It shall be recorded.

[0056] The power supply provides the motor with, for example, a 32VDC power signal via console 33. The 32VDC signal is applied to the motor via the fixture controller 28. The Ra28 selectively provides power signals to each motor, thereby selectively operating the motors. The tool 20 is positioned by the selective operation of the motor. The motor is a brushless DC motor. Any suitable type of motor, such as a motor motor, permanent magnet synchronous motor, or other forms of DC motor. It may also be the case that the power supply also supplies power to the appliance controller 28, and the appliance controller The internal components of the RA28 are energized. In some examples, the actuator motor is 3-phase A brushless motor may be used. The actuator motor may be a DC motor. The actuator motor may be a permanent magnet synchronous motor. Each of them has a sinusoidal back electromotive force configured to achieve mechanical cogging limiting. It can be configured in such a way that torque ripple is limited, allowing for smooth and specific motion. However, other motor types are also being considered. The power supply is, for example, 12VDC, 24 It should be understood that other types of power signals, such as VDC and 40VDC, can also be provided. The device uses an electronic switch, such as a MOSFET or GaN FET, to control three-phase motors. A voltage signal to the data source is transmitted at a high frequency, for example, typically at least 16 kHz and up to 256 kHz. Alternatively, it may be pulse-width modulated by switching it on and off at a higher rate.

[0057] In one possible embodiment, one or more sensors S (see also Figure 7) control the device controller A signal is sent back to the RA28, thereby causing the device controller 28 to respond to the associated action Determine the current position or angle (i.e., measurement position) of tuners 21, 22, and 23. This is possible. The levels of these signals vary as a function of the rotational position of the associated rotor. This may also be the case. In one embodiment, (there may be more) the sensor S is located in a given turn. The rotational position of the rotor may be resolved with high resolution. These sensors S receive signals from the rotor, or Based on the magnetic field detected from other magnets (e.g., a bipolar magnet) placed on the lead screw 150 It may also be a Hall effect sensor that outputs an analog or digital signal. A low voltage signal, such as 5VDC, is used to power the Hall effect sensor. It may be supplied from the motor controller associated with the motor. In some examples, 2 Two Hall effect sensors are positioned within the housing, spaced 90 degrees apart from each other around the rotor. The rotor is positioned and the device controller 28 determines the position and controls the incrementing turns of the rotor. It detects joint position so that it can be moved. In some versions, the Hall effect The sensor outputs a digital signal representing an incremental count. Various types of motors and sensor arrangements are possible. In some examples, the motor is a brushless DC servo motor, and two or more internal Hall effect sensors may be arranged around the rotor at 90 degrees, 120 degrees, or any other suitable intervals relative to each other. The sensor S may also be an absolute value encoder or an incremental encoder that is used to detect the rotational position of the rotor and also to count the turns of the rotor. Other types of encoders may be used as one or more sensors. The sensor may be arranged at any suitable position of the actuator and its peripheral components, such as a housing, nut, screw, etc., suitable for determining the position of each actuator to be adjusted. In yet another configuration, sensorless motor control may be utilized. In such an embodiment, the position of each rotor may be determined by measuring the back electromotive force or inductance of the motor. One suitable example can be found in U.S. Patent No. 7,422,582, which is incorporated herein by reference. In some examples, the sensor or encoder may measure position feedback for joint position control or to determine the position of the tool support 18 relative to the hand-held portion 16 when used with a kinematic model of the instrument 14. In some examples, the sensor or encoder depends on multi-turn measurements, which are accumulated per rotation and used to determine the absolute position of the actuators 21, 22, 23 along their axes, in conjunction with a known pitch (i.e., the number of rotations per inch of the feed screw). ​​​​​​​​​​​​​​​​​​​​​​​​​​Additionally or alternatively, sensors or encoders are used for electronic rectification of motors. The "electrical angle of the rotor" may be determined. For example, a sensor or encoder may be used to determine the rotor. Determine the position and apply the appropriate energizing signal to achieve optimal (efficient) torque generation. This may also be done. In this example, the sensor or encoder is controlled for each electrical rotation (one electrical rotation). Single-turn or sub-turn measurements (within the target rotation) may be used. The number of electrical rotations is It is equal to the number of mechanical rotations divided by the number of magnetic poles in the motor (for example, the number of magnetic pole pairs). However, the implementation of sensorless methods is also being considered.

[0059] In some examples, the output signal from the Hall effect sensor is transmitted to the fixture controller 28. The device controller 28 monitors the changes in the level of the received signal. Based on these signals, the device controller 28 determines the joint position. The position may be considered as the degree of rotation of the rotor from the initial position, i.e., the home position. The joint can rotate 360 ​​degrees multiple times. Therefore, the joint position can exceed 360 degrees. There is a possibility that a scalar value called a count will be used to represent the joint position from the home position. The rotor rotates in both clockwise and counterclockwise directions. Multiple signals (analog or digital) Whenever the digital signal level undergoes a specified state change, the device controller 28, The count is incremented or decremented to indicate the change in joint position. The rotor is completely Each time it rotates 360 degrees, the device controller 28 adjusts the count value by a fixed number of counts. Increment or decrement. In some examples, the count is 360 degrees of the rotor. It is incremented or decremented by 100 to 3000 for each degree of rotation. In this example, an incremental encoder is used to monitor joint position. In some cases, there are 1024 positions (counts) for every 360 degrees of rotation of the rotor. Inside the device controller 28 are counters associated with each actuator 21, 22, and 23. There is a counter equal to the cumulative number of incremented or decremented counts. Stores a value. The count value can be positive, zero, or negative. In some versions... The count value defines the gradually increasing movement of the rotor. Therefore, actuator 21, Rotors 22 and 23 first return to a known position called their home position (see below). (Further explanation) You may move it to the next position, and then use the count value to determine the current position of the rotor. The position may be specified.

[0060] As described above, the carrier has a threaded through bore that receives the lead screw 150 in a screw-type manner. There, and as a result, each of the feed screws 150 is connected to the corresponding one of the carriers. It rotates and adjusts the effective length of one of the multiple actuators 21, 22, and 23 corresponding to it. This adjusts the count measured by the device controller 28, thereby changing the count measured by the device controller 28. Yes, it is possible. Each of the housing and the corresponding carrier has a lead screw 150 that is attached to the carrier. The relative motion is constrained to at least one degree of freedom so that it can rotate relative to it. More specifically, the lead screw 150 rotates relative to the carrier for the following reasons. This is possible. In other words, the pivot yoke 106 is connected to the active axes AA1, AA2 , it is not possible to rotate around AA3 (i.e., the pivot yoke 106 is the first ability (Due to the configuration of the movable joint 92, such rotational movement is restricted), and the carrier is connected to the associated active axis AA1, AA2, and AA3 cannot rotate around the second The configuration of the active joint 108 and the third active joint 124 restricts such rotational movement. This is because...

[0061] The lead screw 150 has a threaded fastener or a fastener such as a shoulder formed on the lead screw 150. 152 is fixed. The fastener 152 is at the end of the movement of each feed screw 150 on the carrier 1 It is sized to come into contact with 16.

[0062] As described above, actuators 21, 22, and 23 are tools for the handheld portion 16. The effective length can be actively adjusted to allow movement of the support 18. One example shows "EL" displayed on the third actuator 23. Here, the effective length EL It is measured from the pivot axis PA to the center of the associated first active joint 92. When the regulators 21, 22, and 23 are adjusted, the feed screw 150 moves within its associated carrier Alternatively, change the extent to which it is screwed in or out from the carrier, thereby affecting the carrier By changing the distance from the center of the rear to the center of the associated first active joint 92, The effective length EL changes. Actuators 21, 22, and 23 are controlled by the minimum and maximum effective length EL. The value is adjustable. The effective length EL of each actuator 21, 22, 23 is handheld. The active axis AA changes to cause various movements of the tool support 18 relative to part 16. 1. To indicate the distance between the tool support 18 and the handle portion 16 along AA2 and AA3. It can be represented or measured by any suitable method.

[0063] The constraint assembly 24 works in cooperation with actuators 21, 22, and 23, The motion provided by actuators 21, 22, and 23 is constrained. The first part provides 3 degrees of freedom of motion, while the constraint assembly 24 restricts the 3 degrees of freedom of motion. In the version shown, the constraint assembly 24, together with the passive coupling mechanism 26, is a passive coupling machine The structure 26 includes a passive connecting joint 156 that connects to the tool support 18.

[0064] In one version, as shown in Figure 9, the passive coupling joint 156 is a passive universal joint. The universal joint includes a first pivot pin 158 and a joint block 160. The pivot pin 158 is through the through bore 164 of the joint block 160, and into the joint block 1 60 is pivotably connected to the passive connecting fixture 162 of the tool support 80. Set screw 166 However, the first pivot pin 158 may be fixed to the passive coupling fixture 162. The universal joint is The second pivot pin 170 is also included. The joint block 160 is the second pivot pin 170 It has a receiving cross bore 168. The second pivot pin 170 is passive of the passive coupling mechanism 26 The connecting pivot yoke 172 is pivotably connected to the joint block 160. Second pivot Pin 170 is connected to the first pivot pin 158, the joint block 160, and the second pivot pin. The through bore receiving the first pivot pin 158 such that 170 forms a cross of universal joint It has 171. The first pivot pin 158 and the second pivot pin 170 intersect. The pivot axis PA is defined. As a result, the passive coupling mechanism 26 is connected to the tool support body 80. It can move with 2 degrees of freedom. Passive coupling including a ball with a slot for receiving a pin. Other types of passive joints, such as spherical joints, are also being considered.

[0065] The passive coupling mechanism 26 includes a shaft 174 fixed to the passive coupling pivot yoke 172. The passive coupling mechanism 26 is configured to receive the shaft 174 along the constraint axis CA. It also has a sleeve 76 for the base 74. The passive coupling mechanism 26 has a shaft 174. To enable axial sliding along the constraint axis CA relative to the leaf 76, During the operation of one or more of the actuators 21, 22, and 23, the shaft relative to the constraint axis CA It is configured to restrict the radial movement of T174.

[0066] The passive coupling mechanism 26 connects the shaft 174 to the sleeve 76 centered on the constraint axis CA. It further includes a key that restricts rotation. The key is located opposite the shaft 174 and the sleeve 76. It fits into the keyway and locks the shaft 174 into the sleeve 76 to prevent rotation. Integrated Other features that prevent relative rotation between shaft 174 and sleeve 76, such as key / slot arrangement. The arrangement is also planned. The passive coupling mechanism 26 operates independently of the actuators 21, 22, and 23. The tool support 18 and the handle portion 16 are operatively interconnected. The passive coupling mechanism is operative. While one or more of the tuners 21, 22, and 23 are operating, the effective length E along the constraint axis CA L is passively adjustable. The sleeve 76, shaft 174 and key 176 are passively connected. This represents one combination of links for the coupling mechanism 26. For the passive coupling mechanism 26, Other sizes, shapes, and numbers of links may be used, connected in a manner preferred by the user.

[0067] In the illustrated version, the passive connecting joint 156 has two pins relative to the tool support 18. The bot can pivot around its PA axis. Other configurations are possible.

[0068] Furthermore, in the illustrated version, the first active joint 92 and the passive connecting joint 156 are common. Define a pivot axis PA located on the plane. A non-parallel pivot axis PA is located on a different plane. Parallel pivot axes PA positioned therein, combinations thereof, or other configurations are also envisioned.

[0069] In some versions, the head 84 of the tool support 18 is supported by the tool 20. When connected to the body 18, it is positioned on the blade surface BP (e.g., the blade surface) parallel to the common plane. They are positioned as follows. In some examples, the blade surface BP is 2.0 inches (5 inches) from the common plane CP. 0.8 mm or less, 1.0 inch (25.4 mm) or less, 0.8 inch Only 20.32 mm or less, or 0.5 inches (12.7 mm) or less. Spaces are created between them.

[0070] In the illustrated version, actuators 21, 22, and 23 are on active axes AA1 and AA2 , all actuators 21, 22, and 23, including when AA3 is in the home position At this position, it is arranged in an inclined configuration with respect to the constraint axis CA. Axis AA1 By tilting AA2 and AA3, it is generally possible to create a slimmer and smaller base. The actuator arrangement is tapered to allow the -74 and associated grip 72. This includes cases where the active axes AA1, AA2, and AA3 are not inclined relative to the constraint axis CA. Other configurations are considered. These configurations involve actuator axes AA1, AA2, and AA3. These may include those that are parallel to each other in their home positions.

[0071] Further configurations of actuators, active joints, and constraint assemblies are possible. (Details to be provided.) The control techniques apply to other mechanical configurations not mentioned, particularly handheld parts with one or more degrees of freedom. It is intended to be applied to configurations that control tools or saw blades. Several versions In this case, a constraint assembly does not necessarily exist, and the tool support 18 of the device 14 is handheld. Part 16 may be able to move with additional degrees of freedom. For example, the device may be linearly actuated. The device may include a turner, a rotary actuator, or a combination thereof. Includes 2, 3, 4, 5, 6 or more different actuators arranged in rows or series. But that's fine.

[0072] (Virtual boundary) The software employed by the control system 60 to control the operation of the device 14 is , including boundary generator 182 (see Figure 7). Boundary generator 182 is connected to the device controller 28 , implemented in the navigation controller 36, or other components such as a separate controller The boundary generator 182 is part of a separate system that operates remotely from the device 14. This may be done. Referring to Figure 7, the boundary generator 182 restricts the movement or operation of the device 14. It is a software program or module that generates one or more virtual boundaries 184. In some examples, the boundary generator 182 generates virtual cutting guides (e.g., virtual saw cutting guides). A virtual boundary 184 is provided that defines the virtual boundary. The virtual boundary 184 also provides various rules as described below. You may provide it to outline your domain. The virtual boundary 184 is 1-dimensional (1D), 2-dimensional It may be (2D), 3D, a point, line, axis, trajectory, plane (anatomical structure or An infinite plane or planar segment enclosed by other boundaries), volume, or complex geometric shape. It may include other shapes, including shapes. The virtual boundary 184 is a pixel, point cloud, voxel, three It may be represented by a corner mesh, other 2D or 3D models, or a combination thereof. (United States) Japanese Patent Publication No. 2018 / 0333207 and U.S. Patent No. 8,898,043 are cited. By doing so, these shall form part of this specification, and any of their features may be used This may facilitate the planning or execution of surgical procedures.

[0073] The virtual boundary 184 may be used in various ways. For example, the control system 60 may use the boundary Control the specific movement of tool 20 to stay inside, and control the tool to stay outside the boundary. Control 20 specific movements and stay on a boundary (e.g., stay on a point, trajectory, or plane) ) Control a specific movement of tool 20 to approach the boundary (inducing boundary) or boundary Control a specific movement of tool 20 so that it is repelled from the boundary (repulsion boundary), or to the boundary Based on the relationship of the device 14 to the device (for example, space, speed, etc.), a certain function of the device 14 is performed. It may be controlled. Other uses of virtual boundary 184 are also considered.

[0074] In some examples, one of the virtual boundaries 184 is the desired cross-section, as shown in Figure 2. Therefore, the control system 60, in several versions, eventually uses tool 20. It functions to maintain the position of tool 20 on the desired cutting surface. Virtual boundary 18 controls the positioning of tool 20. 4 also constrains the saw blade to remain within the boundary and on the desired cutting surface, as shown in Figure 2. It may also be a volume boundary, such as one with a thickness slightly greater than the blade thickness. Therefore, the desired cross-section is defined by a virtual planar boundary, a virtual volume boundary, or other form of virtual boundary. It can be defined as follows. The virtual boundary 184 may also be called a virtual object. Boundary 184 is a 3D bone model (anatomical model AM), which is based on their registration. Anatomical models such as Figure 2, which show that it is virtually superimposed on the actual femur F. The AM may be defined. In other words, points and lines associated with the virtual boundary 184. Axes, trajectories, planes, volumes, etc. are the same as those in the anatomical model AM (for example, it is a registration). Tracking (through the tracing of related anatomical structures) also enables tracking of the virtual boundary 184. Therefore, it may be defined in a coordinate system fixed to the coordinate system of the anatomical model AM. stomach.

[0075] The anatomical model AM has a virtual boundary 184 related to the anatomical model AM and its associated coordinate system. Registered to the first patient tracker 54 so that it can be linked. Virtual boundary 1 84 is specific to implants and is based on, for example, the size, shape, volume, etc. of the implant. It may be defined based on, or it may be patient-specific, for example, based on the patient's anatomical structure. The virtual boundary 184 may be defined as the boundary created preoperatively, intraoperatively, or in combination thereof. It may also be a boundary. In other words, the virtual boundary 184 is before the surgical procedure begins. It may be defined in the middle (including during tissue removal) or a combination thereof. The virtual boundary 184 is controlled Your system 60 can create it, or it can be received from other sources or systems, among many other ways. It may be provided. The virtual boundary 184 may be stored in memory for retrieval or updating.

[0076] When preparing the femur F to receive a total knee joint implant IM (see Figure 1), etc. In that case, the virtual boundary 184 is a set of multiple cross-sectional views for the entire knee joint implant IM (for example). It includes multiple planar boundaries that can be used to outline the thigh (5 cross-sections), It is associated with a 3D model of the distal end of bone F. These multiple virtual boundaries 184 are controlled by the control system. The Tem 60 can be operated only one at a time, constraining the cutting to one plane at a time. .

[0077] The device controller 28 or navigation controller 36 has respect to the virtual boundary 184 Track the state of tool 20. In one example, the state of the TCP coordinate system (for example, the state of the saw blade). The force) controls actuators 21, 22, and 23 so that tool 20 remains in the desired state. For the purpose of determining the target position, it is measured relative to the virtual boundary 184. In this case, the control system 60 controls the physical handpiece when a physical boundary is present. The device 14 is controlled in a manner that mimics the method of response.

[0078] Returning to Figure 7, two additional software programs or modules are used for the instrument control. It runs on the 28 or navigation controller 36. One software module The command executes the behavior control unit 186. The behavior control unit 186 then performs the following actions on the tool 20. This is the process of calculating data that indicates a commanded position or orientation (for example, a desired attitude). In the case of several, only the desired TCP location is output from the behavior control unit 186, and several In some cases, the commanded pose of tool 20 is output. Boundary generator 182 or The output (for example, the current position of the virtual boundary 184 in one or more coordinate systems or The orientation is the next commanded position of actuators 21, 22, and 23 or the orientation relative to tool 20. To determine this, it may be supplied as an input to the behavior control unit 186. Behavior control unit 186 This input is processed along with one or more other inputs, which will be described later, to determine the commanded attitude. That's fine.

[0079] The device controller 28 sends command signals to each actuator 21, 22, and 23. Then, by adjusting the tool 20 toward the desired posture, one or more actuators are brought into play. 21, 22, and 23 may be controlled. The device controller 28 controls actuators 21, 2 2, 23 knows the total length to which the tool support 18 may be adjusted relative to the handgrip portion 16. This is also fine. In some examples, the device controller 28 controls actuators 21, 22, and 23. Knowing the overall length that can be adjusted, the actuari moves to measure the distance between positions. Command signals may be sent to terminals 21, 22, and 23. The measurement location is a known location. Also, between the current position of actuators 21, 22, and 23 and the actuator limit Distance may also be used. Each position that actuators 21, 22, and 23 move to is the actuator The measured distance from the positive and negative limits of the Eta movement (i.e., the position between the two ends of the lead screw) ) may also be used. The device controller 28 controls the actuators 21, 22, and 23 as described later. You may also instruct the device to move to a measurement position and to move from that measurement position.

[0080] The device controller 28 sends command signals to each actuator 21, 22, and 23. Then, actuators 21, 22, and 23 are moved from the first position to the desired position of tool 20. It may be moved to the commanded position. In some examples, the device controller 28 provides navigation. The command position is determined together with the control system 32, and the tool 20 and tool support 18, Handheld part 16, patient tracker PT, 54, 56, virtual object such as desired cross-section, Alternatively, determine the position relative to those combinations and a certain one in order to position tool 20 in the desired orientation A signal is sent to actuators 21, 22, and 23 to adjust to a fixed distance or commanded position. The instrument controller acts to achieve the desired adjustment of tool 20. You may also instruct the devices 21, 22, and 23 to move to a certain position. (Device Controller 28) The tool 20 moves linearly over a calculated distance to adjust it toward the desired posture. Actuators 21, 22, and 23 may be controlled in this manner. An absolute encoder is used. In other cases, such as when the device controller is determined by the absolute encoder, Based on the known position of the tool support 18 relative to the part, each actuator 21, 22 Even if signals are sent to actuators 21, 22, and 23 to position 23 at the commanded location good.

[0081] The device controller 28 controls the actuators 21, 22, and 23 relative to the handle portion 16. The tool support 18 may be adjusted, and the overall length may be known. In some examples, the instrument The controller 28 knows the overall length that actuators 21, 22, and 23 can adjust. The measured distance between positions is moved (for example, via commanded rotation by a desired amount in a straight line). By commanding movement, command signals are sent to actuators 21, 22, and 23. This is also acceptable. The measurement position may be a known position, or actuators 21, 22, 2 The current position of 3 and the distance between the actuator limit may also be the actuator 2. The positions to which 1, 22, and 23 move are determined by the positive and negative constraints on actuator movement. The measurement distance may also be the distance between the two ends of the lead screw. Equipment Controller 2 8 moves actuators 21, 22, and 23 to and from the positions described later. The instrument controller may issue a command to the tool 20 in order to achieve the desired adjustment. The cutters 21, 22, and 23 may be instructed to move to a certain position. -La 28 adjusts the tool 20 toward the desired position by using a straight line of calculated distance Actuators 21, 22, and 23 may be controlled to move as follows. The absolute encoder In other cases, such as when used, the device controller is determined by an absolute encoder. The known actuators 21, 22, and 23 between the respective actuator movement limits Based on the position, the actuators 21, 22, and 23 are positioned to the commanded position. Signals may be sent to diodes 21, 22, and 23. Alternatively, in one example, quoted U.S. Patent Publication No. 2017 / 0156799, which thereby forms part of this specification. As described, in combination with the origin return procedure performed during system setup Alternatively, an incremental encoder may be used. A return-to-home procedure can be used to control the actuator. Eta 21, 22, 23 and the joints may be positioned at their centered positions, origin The recovery procedure then determines the absolute offset of the incremental encoder. By determining the offset of the incremental encoder, Da can function as a forward absolute value encoder.

[0082] In some examples, when a return to the origin position is used, the return to the origin process is actuated The initial rotor positions (zero position) of rotors 21, 22, and 23 are established. The home position is: In effect, it proposes the maximum possible movement in each direction along the active axes AA1, AA2, and AA3. This is the position of the rotor 148. In some examples, the home position is generally the stop position. The origin HP of the lead screw 150, which is centered in the middle of the clamp 152, is related to the It is positioned to be centered on the rear 116. (Using an absolute value encoder, etc.) Even if the homing procedure is not used, other modes (such as the approach mode, which will be discussed later) This includes setting actuators 21, 22, and 23 to the origin HP before or after execution. But that's fine. The device controller 28 controls the effective length EL of actuators 21, 22, and 23 to the maximum The actuators 21, 22, and 23 are returned to their home positions between the minimum and maximum values. It may be configured to control such behavior.

[0083] When in the home position, the amount of adjustability of actuators 21, 22, and 23 is The tool 20 is maximized to maintain the desired posture. Specific geometric shape of the instrument 14 And depending on the configuration, various levels of adjustment are possible. In some examples, all actions When chueters 21, 22, and 23 are in their home positions, the direction of the roll changes. Assuming that the transformation is zero and there is no z-axis translation, for tool 20, the home position is The pitch direction may be adjusted by approximately ±18 degrees relative to the angle. In some examples, all A When cutters 21, 22, and 23 are in their home positions, the direction of the pitch Assuming there is no change and no z-axis translation, for tool 20, the home position The direction of the roll may be adjusted by approximately ±33 degrees relative to the direction. In some examples, all When actuators 21, 22, and 23 are in their home positions, the direction of the pitch And assuming that there is no change in the direction of the roll, the home position for tool 20 The z-axis translation may be adjusted by approximately ±0.37 inches (9.398 millimeters) relative to the value. Naturally, during operation, tool 20 simultaneously and sequentially controls pitch, roll, and z-axis translation. Alternatively, they may be adjusted in combination. In certain cases, the home position is two This also refers to the tool support being in the home position. At that time, each actuator in the actuator assembly is also in its home position. In other words, the adjustability of each actuator is maximized in all degrees of freedom. It is maximized to provide movement.

[0084] In some cases, one or more of the actuators 21, 22, and 23 have their mechanical limits When the limits imposed by the environment or software are reached, the device controller 28 will Tool 20 can be adjusted to the desired position by the cutter within a certain range. To return to 0, it may be requested that the hand portion 16 be adjusted. In such cases, The lever 20 and actuators 21, 22, and 23 are repositioned to the desired position by hand. To show the user how to move the handle part 16, a simulated command position is shown. You may use the following. The simulated command position is controlled by actuators 21, 22, and 23. Move the handheld part 16 to adjust the tool 20 toward the desired position without making any adjustments. Navigation data from the navigation system 32 must be provided and associated with This may be a position determined by the device controller 28. Simulated command position It works in cooperation with one or more displays 38 to hold the tool 20 in the desired position. The user is notified that part 16 needs to be moved in a specific way. Using the visual indicators, actuators 21, 22, and 23 adjust tool 20. You could also notify the user to move the handle part 16 in the same manner as if you were doing so. By operating the handheld part 16 while the actuator remains in place, the tool The user is responsible for correcting the 20 postures.

[0085] The second software module executes the motion control unit 188. One aspect is the control of the device 14. The motion control unit 188 receives the following from the behavior control unit 186. It receives data that defines the commanded posture. Based on this data, the motion control unit 188 The instrument 14, for example, moves the tool 20 in a commanded position, as commanded by the behavior control unit 186. Each actuator 21 can be positioned (for example, by inverse kinematics) , determines the next rotor position of rotor 148 22, 23. In other words, motion control unit 1 88 processes the command posture, which may be defined in Cartesian space, and controls the actuator of the device 14. The motor is set to a specific position (rotor position, etc.), and the device controller 28 adjusts accordingly. Command 142 to control actuators 21, 22, and 23 of device 14, and the commanded position of tool 20 The rotor position and other parameters corresponding to the momentum can be moved to the commanded position. The motion control unit 188 adjusts the rotor position of each motor 142, and the motors 142 are related Drive actuators 21, 22, and 23 to the commanded rotor position as precisely as possible. To ensure accuracy, the torque output by each motor 142 is continuously adjusted. Using this generated command posture, defined as described below, the visual indicators are controlled You may control it.

[0086] In some versions, the fixture controller 28 controls each actuator 21, 22, For 23, the difference between the measurement position and the command position of the rotor 148 is determined. (Instrument controller) 28 outputs a target current (proportional to the rotor torque) and changes the voltage to control the actuator. The current in the actuator is adjusted from the initial current to the target current. The target current is the actuator 21 It enables movements 22 and 23, and moves tool 20 from a measured pose to a commanded pose. Move it. This may occur after the commanded posture has been translated into joint positions. In one example... The measurement position of each rotor 148 may be derived from the sensor S described above, such as an encoder.

[0087] The boundary generator 182, behavior control unit 186, and motion control unit 188 are software programmed It may be a subset of M. Alternatively, each of them individually or in any combination. This may be a software program that operates independently. In this specification, "soft" The term "ware program" refers to a program that performs various functions of the technical solutions described. For the sake of explanation, we will use computer executable instructions configured in "soft". The term "ware program" is used to refer to at least the boundary generator 182 and the behavior control unit 186 Alternatively, it is intended to include any one or more of the motion control units 188. The wear program is the instrument controller 28, the navigation controller 36 or the These can be implemented in any combination, or by any preferred method by the control system 60. It may be implemented by law.

[0088] To handle user interaction, a clinical application 190 is provided. This is also good. Clinical application 190 handles many aspects of user interaction. Preoperative planning, implant placement, registration, visualization of bone preparation, and implant Adjust the surgical workflow, including postoperative evaluation of suitability. Clinical Application 190 It is configured to output to display 38. Clinical application 190 is configured to output to display 38. It may be executed on a separate processor of its own, or on the device controller 28 or It may be run in parallel with the Navigation Controller 36. In one example, the clinical application Direction 190 is used after the implant placement is set by the user, followed by the boundary generator 182 It interfaces with and then executes the virtual boundary 184 returned by the boundary generator 182. This is sent to the device controller 28.

[0089] The initial position of the base coordinate system BCS is such that actuators 21, 22, and 23 are home to their respective homes. Tool support coordinate system TCS and base coordinate system B when in position or other predetermined location This can be determined based on known geometric relationships with CS. Tuners 21, 22, and 23 change when they are adjusted, and the associated changes are due to the robotic system Determined based on the kinematics of Tem 10 (for example, establishing dynamic transformations between these coordinate systems). It is possible to, alternatively or additionally, use the base coordinate system relative to the tool support coordinate system TCS. To directly track the attitude of the BCS, another tracker is attached to the base coordinate system BCS. It can be fixed in place. Therefore, the robot system 10 can be positioned in a home position, etc. The relationship between the position of tool 20 and the orientation of the handheld part 16 is known. Therefore, When the user moves tool 20 and its posture is tracked using tool tracker 52, The bot system 10 also tracks the attitude of the handheld part 16 and its base coordinate system (BCS). In some cases, as a result of the prior calibration process, the tool relative to the tool support 18 The position of 20 is assumed to be known.

[0090] In some versions, the home position is initially fixed to the handgrip section 16. By employing a separate tracker, the tool support 18 in the common coordinate system (For example, the base coordinate system of the tool support coordinate system TCS) of the handgrip portion 16 The orientation of the BCS (Body Control System) is determined by the position of the handgrip portion 16 and the tool support. This spatial relationship between body 18 and pointer 57 and known calibration devotion on handheld portion 16 Determined by registration using a TT or by other navigation methods. It is also possible to do so. Then, based on the kinematics of the device 14, from this spatial relationship, the actu The current rotor positions of ETERS 21, 22, and 23 can be derived. The controller 28 knows the current rotor position and the encoder (and the corresponding encoder) By using the signal to measure the change from the current rotor position, the actuator is then... Move each of the inverters 21, 22, and 23 until they reach their home positions. It can be made possible. The home position is stored in the memory of the device controller 28. It is possible.

[0091] Essentially, the device controller 28 is controlled by the navigation system system 32. Obtained from the tool support 18 and the tracker 52 attached to the handle portion 16 on the instrument 14. Using the tracking data, the positions of actuators 21, 22, and 23 are determined, and thereby Subsequently, the incremental encoder can operate as an absolute encoder. .

[0092] For example, instruction data from the console 33 of the device controller 28 or another component. The packets are sent to the motor controller. These instruction data packets are sent to motor 1 Includes the target position of the rotor 148 of 42 (or the target position of the actuator). Here, each item The target position may be a positive or negative number representing the target cumulative count of the associated rotor 148. The console 33 or other components of the device controller 28 operate at a rate of 0.05 milliseconds to 4 milliseconds. These instruction data packets are generated at a rate of one packet per second for each motor controller. Send to the roller. In some examples, each motor controller sends at least 0.125 It receives an instruction data packet once every millisecond.

[0093] During use, the robot system 10 ensures that the tool tracker 52 is positioned on the tool support 18. As a result, the navigation system 32 can determine the attitude of tool 20 (current attitude). The device controller 28 also controls each of the actuators 21, 22, and 23. Based on the output encoder signals from one or more encoders located, actuator 2 The current positions of 1, 22, and 23 may be determined. The device controller 28 is When the current position of actuators 21, 22, and 23 is received, the handheld part 16 current postures (for example, forward kinematics to convert actuator position to posture) The TCP coordinate system to be used (TCP relative to BCS), etc., and the base coordinate system B for the desired coordinate system. The current orientation of the CS may be calculated. The instrument controller 28 in the desired coordinate system The tool controller has the current relative position of the tool support 18 and the handgrip portion 16. 28 is the current position of tool 20 determined by the navigation system 32, A The hand portion is calculated based on the current positions of cutters 21, 22, and 23. Based on the 16 current positions, and the planned virtual object, i.e., the desired cut The commanded orientation of the tool 20 may be determined based on the position or orientation of the object as a cross-section. The device is positioned such that the TCP is on the desired plane or aligned with a planned virtual object. The resulting TCP attitude (command attitude) towards the BCS is calculated. Device Controller 2 8 sends command instructions to actuators 21, 22, and 23 to move to the commanded position. This may change the orientation of the tool support 18 and the tool 20. In one example, The commanded orientation of tool 20 is based on the target cutting surface, and therefore the instrument controller 28, To determine the current position of the handgrip portion 16, the current position of the tool support 18 and The current position of cutters 21, 22, and 23 is calculated. The current position of tool support 18 The posture, the current positions of actuators 21, 22, and 23, and the current position of the handheld part 16. Once the posture is determined, the instrument controller 28 adjusts the tool support 18 and the desired plane. Command signals are sent to actuators 21, 22, and 23 to adjust tool 20. It is possible. The controller momentarily changes the posture of the handheld part (B) (during one repetition). The command posture is calculated assuming that the CS (Critical Stress) is stationary relative to the patient's anatomical structure. By updating the response posture each time, the actual movement of the BCS is adjusted.

[0094] Referring to Figure 10, illustrative controls for various transformations are shown. TCP is, Tool 20 is tracked using tool tracker 52 (C-TT) in C, and registration Using the conversion data, the tool tracker 52 and tools such as saws 20 are converted between TCP (TT It is determined by determining the -TCP). Similarly, the patient tracker PT in C ( Patients are tracked using the patient tracker PT (shown as 54) (LCLZ-PT). The conversion between planned virtual objects (TP) and planned virtual objects (PT-TP) is registered It is determined using data and planning information. As mentioned above, changes between BCS and TCP The conversion (BCS-TCP) is calculated based on the current position of each actuator (as described above). Therefore, since a command stance may be determined for BCS, the conversion between BCS and TCP is These are used to reassociate various coordinate systems with the handheld part 16. Conceptually, the command form In this example, TCP may have a planned virtual boundary 184 which may include one or more virtual boundaries 184. The conversion from BCS to TCP results in alignment with the object (target plane TP). This is an update to [the previous version].

[0095] The phrase "TCP of the device" is used synonymously with the phrase "position of the saw blade." It should be understood that TCP is used for the device / tool. In that case, it can be replaced with the position of the saw blade, and vice versa. Naturally, the position of the "saw blade" can be replaced by a drill, burr, guide tube, pin, etc. It is also intended that the tool be positioned in any preferred configuration.

[0096] Throughout this specification, unless otherwise stated, in all cases of posture, the commanded posture and the current posture are used. This could be the current posture, a past posture, or a past command posture. Each of these postures is mutual Although they may differ, the difference in position or orientation between these postures is due to the frequency of control. This can be minimized in each control iteration.

[0097] The combination of an object's position and orientation is understood to be called the object's pose. This specification should be used to achieve preferred alternative forms of the concepts described herein. Therefore, the term "posture" may be replaced with "position" or "orientation," and vice versa. In other words, any use of the term "posture" can be replaced with "position." Any use of the term "position" may be replaced with "posture."

[0098] (operation) During operation, the robot system 10 is first powered on and the software that operates the system The software application starts. Trackers 52, 54, 56, and PT are initialized. Trackers 52, 54, and 56 are placed on instrument 14 and target anatomical structures (e.g., femur F and It is positioned on the tibia (T). Patient trackers 54 and 56 are attached to the anatomical structure. Therefore, anatomical structures or related images / models can be registered using known registration techniques. Then, the patient is registered to patient trackers 54 and 56. This involves the user pointer In case 57, when it is necessary to touch a specific surface or landmark of an anatomical structure. There is. For example, this involves the user pressing the select button at pointer 57, or navigating While pressing the foot switch of the 32-stroke control system, touch several surfaces of anatomical structures. It may be necessary to touch a specific point. This allows for preoperative or intraoperative imaging of anatomical structures. / In order to match the model, a point is "drawn" on the surface in the navigation system 32. Preoperative or intraoperative images / models of anatomical structures are displayed on the navigation system 32. Loaded. The traced portions of anatomical structures are registered to preoperative or intraoperative images / models. Furthermore, this allows the robot system 10 to move its anatomical structure. Accordingly, the actual position and orientation of the anatomical structures are graphically displayed on the display 38. It is possible to present such expressions.

[0099] During the calibration procedure, the orientation and position of the tool tracker 52 are determined by the calibration divot CD or other base By referring to the fixed, known position of the reference point, the tool support 18 is calibrated. In some examples, one or more tool trackers 52 are attached to the tool support 18, the handle part It may be located at part 16 or both, thereby the tool support 18 or the handgrip portion 16 The position is tracked by the navigation system 32. The tool tracker 52 tracks the instrument 14 In the example where it is integrated, the relative position of the tool tracker 52 with respect to the tool support 18 is already Since it is knowledge, such calibration is unnecessary.

[0100] A virtual object (for example, a virtual boundary) used to control the operation of device 14. 184) is also defined. Software running on the device controller 28 (for example, The boundary generator (182) generates the initial definition of the virtual object. The user can then, as needed... You can adjust the placement of virtual objects, and even if you have such options... stomach.

[0101] In one exemplary configuration, the control system 60 pre-determines the target site or anatomical structure. Various regions are defined at a fixed distance or position. Each of these regions is an anatomical structure. It may be defined in a coordinate system related to the construction or virtual boundary 184. In some cases, These regions are spheres or other geometric primitives relating to the target site or anatomical structure. It is defined as follows. In other examples, the area (and others described later) is the instrument 14, tool support The body 18, the handle 16, the tool 20, the target, or a combination thereof may be defined. i. The control system 60 controls the handgrip portion 16, tool support 18, tool 20, target or so When the region defined by these combinations approaches a specific virtual boundary, the device 14 controls You may control it.

[0102] In particular, the instrument controller 28 controls the motor 1 to maintain the tool 20 in the desired position. The rotor 148, which is integrated with 42, generates a set of target rotor positions that it must rotate to. In other words, the user moves the tool 20 away from its desired position. If the movement is 16 minutes, this is detected by the navigation system 32. In response to movement, the device controller 28 uses data from the navigation system 32 to... Based on this, determine how far tool 20 is from the desired position, and move tool 20 to the desired position. By driving actuators 21, 22, and 23 as needed to return to the original position... The device controller 28 compensates for these deviations from the desired posture. High frequencies (e.g., frame rate) are used to consider this in virtually real-time and continuously. Since it operates in this way, it should be understood that these discrepancies are usually small. That is the case.

[0103] The target rotor position is determined by the operation of actuators 21, 22, and 23 and the resulting movement. It is determined based on the relationship with (for example, kinematics). For example, the handholds in relation to the desired posture. If z-axis translation of part 16 is required, the extent to which tool 20 moves along the z axis and each There is a difference between the amount of rotation of rotor 148 (for example, the number of counts associated with this z-axis movement) and There is a primary relationship. The third actuator 23 operates independently, or the first actuator Operates in combination with one or both of the ETER 21 and the second actuator 22. In response to this, there is also a relationship between the degree to which tool 20 changes the direction of its pitch. Finally, regardless of whether the third actuator 23 is operating or not, the first actuator In response to the operation of one or both of the actuators 21 and the second actuator 22, the tool 20 There exists a relationship between the degree to which the orientation of the roll changes. Based on these relationships, the container The tool controller 28 controls each rotor required to maintain the desired position of the tool 20. The 148 target rotor positions are determined. The instrument controller 28 determines these target rotor positions Based on this, the motor 142 is operated. For example, console 33 controls these target lows. A packet containing the position may be sent to the motor controller, and each motor controller Appropriate energizing signals may be applied to the relevant motor 142. These energizing signals allow, Rotation of the rotor 148 is caused, as a result, to maintain the tool 20 in the desired position. Repositioning of the lead screw 150 to displace the tool support 18 / tool ​​20 as needed. This will result.

[0104] As described above, when the user positions the handle portion 16 toward the desired plane, the actuary The motors 21, 22, and 23 are held in the home position or other predetermined positions. Maintain chueters 21, 22, and 23 in their home positions or other predetermined positions. By doing so, the user can adjust the tool 20 to the desired plane and target orientation of the instrument. It may feel easier to arrange them. However, the tool may not be in the desired position. When in that position, the visual indicators control actuators 21, 22, and 23 to their home points. By maintaining the device 14 near the junction or other designated position, sufficient adjustability is possible. The intention is to guide the user on how to move the handheld part 16 in order to give the desired result. For example, the user can maintain tool 20 in the desired position while performing all actions. To bring Tueta 21, 22, and 23 closer to their home positions, the handle part In some cases, it may be necessary to move 16 upwards in the z-axis direction. In other words, actuate Sections 21, 22, and 23 may extend almost completely. To achieve this, visual The direction indication from the indicator is upward. In this case, the visual indicator is actually To maximize the adjustability of actuators 21, 22, and 23, actuator 2 Position the handle 16 upwards so that 1, 22, and 23 move toward their home position. The user is guided to move it in that direction. When the user moves the handle part 16 upwards, The cutters 21, 22, and 23 move tool 20 in the desired position (for example, virtual boundary 184 (Above) it continues to operate to maintain. As a result, actuators 21, 22, and 23 continue to operate. Move backward, such as towards the home position. Ideally, the user should initiate bone cutting. When this happens, for each actuator 21, 22, and 23, the maximum in any direction A movement range is available. Otherwise, one of actuators 21, 22, or 23 If one or more have nearly reached the usable range of movement in any direction, the handheld portion Even with the slightest movement of 16, the instrument controller 28 maintains the tool 20 in the desired position. This may not be possible, and inaccurate cuts may occur.

[0105] Additionally or alternatively, in some versions, tool 20 moves to the desired pose. It is also possible for the user to cut while the tool 20 is maintained in the desired position. To implement this, within the threshold of the available travel range of actuators 21, 22, and 23, The handle portion 16 may be adjusted to a suitable position. Then, the user presses a button or foot switch. By activating an input device such as a switch, or by selecting on the touchscreen, The position of the handle portion 16 relative to the position of tool 20 is maintained or fixed in its current spatial relationship. You may choose to switch to freehand mode for the pose of tool 20. The held position of the handheld portion 16 changes the virtual thresholds of actuators 21, 22, and 23. By allowing the user to select an operating mode, and by maintaining the held posture, the actuate The aim is to suppress the movement of ethodenium.

[0106] (Visual guidance) As shown in Figure 8, the robot system 10 also includes a visual indicator 201. Other examples Symbolic visual indicators are shown in Figures 21-24 and 26-42C. The configuration may vary depending on the user's preferences. In one configuration, see Figure 8. For reference, the visual indicator may be attached to the device. For more details, see Visual Indicator The data may be coupled to a tool support, a handle, or a combination thereof. Alternatively, Figure Referring to 1, the visual indicator may be positioned separately from the device, such as on the UI. Example For example, a visual indicator is a display screen positioned in the operating room for the surgeon to easily see. It may take any form. More specifically, the visual indicator is integrated into the navigation cart. It may also be in the form of a display screen. The system's (or multiple) controllers Depending on the position of the corresponding visual indicator, the visual indicator is coupled to the transmitter unit. It is also possible. The transmitter unit may include a processing unit and a power supply. To that end, any of the above components are distributed to one or more separate devices or locations. It may be done. The transmitter unit and the visual indicator on the display and To establish a wired or wireless electrical connection between them, electrically coupled to the visual indicator That's good too.

[0107] The use of visual indicators ensures that the limits of range of motion in more than one degree of freedom are met. By avoiding postures that could lead to the interruption of surgical procedures, such as avoiding certain positions, the design can be improved. This can provide even greater robustness. This is because the control system can provide the drive motor. The fact that it may be configured to determine whether or not an override is necessary. .

[0108] The control system 60 provides instructions to each actuator to move the TCP to the target posture. Once the command position or command joint angle is determined, one of the multiple actuators or tool support units The operation of the drive motor M may be controlled based on the upper position. The position is the command joint position of at least one actuator, at least one actuator The measurement position of the actuator, the previous command position of at least one actuator, at least one This may be based on the actuator's previous measurement position, or a combination thereof. In one example... The drive motor M controls at least one command position of actuators 21, 22, and 23. It is controlled based on the command joint position of at least one actuator 21, 22, 23. The setup involves at least one actuator motor over actuators 21, 22, and 23. It is compared to the ride limit. The motor override limit defines an outer boundary of a certain range. It may be a single value or a series of values. In this example, the monitor of one actuator Although the tarring is demonstrated, the control system commands each actuator 21, 22, and 23 The position and actuator motor override limit may be monitored. The upper and lower limits of the actuator motor override limit are relative to the operating range of each actuator. The value may correspond to the position of the actuator. The upper limit is the drive motor parameter. This may correspond to the maximum allowable displacement in the first direction before adjustment, and the lower limit is, The maximum allowable travel in the second opposite direction before the drive motor parameters are adjusted. It may also be compatible with the following. More specifically, the control system 60 controls the command joint position to actuate Based on whether or not to maintain the position between the upper and lower limits of the motor override limit, the drive The motor parameters of motor M are controlled by a first value and a second value. The control system 60 is: One or more motor parameters of the drive motor M may be controlled, and one or more motor parameters The data may be speed, torque, operating time, current, or a combination thereof. The motor parameter controlled by the control system 60 is the motor speed, and the first The value of is zero (drive motor M is off), and the second value is greater than zero (drive motor (The M is ON). The control system 60 controls the command position of actuators 21, 22, and 23. Based on the setting, the motor parameters are switched between a first value and a second value. Depending on the command positions of 21, 22, and 23, the actuator will exceed the motor override limit. When the value falls within the upper and lower limits, the control system 60 indicates a second value for the drive motor parameter. This may be used to enable the drive motor M to be operated or to continue to be energized. When the actuator position is between the lower and upper limits of the motor override limit, the joint velocity The override of the command will not be changed.

[0109] In some cases, the drive motor override is triggered by the received actuator position (P) It may be implemented as a lookup table or function that is evaluated based on the data. In the example of a positional speed override, this causes the joint position to exceed its motor override limit. As you approach, the speed of the drive motor decreases proportionally. In some cases, the actuator position If the position is within the lower and upper motor override limits, no changes are necessary. In this example, one or more of actuators 21, 22, and 23 are within an 80% to 95% travel range. When the motor is within the range of movement, the drive motor speed M may decrease proportionally, and may exceed 95%. The amount of movement may be completely disabled, thereby limiting the operation limits (lower and upper) of tool 20. Continuous and stepwise feedback indicating that the motor is approaching the limit motor override threshold. It may be provided to the user. In such embodiments, there are multiple lower motor override thresholds and There may be multiple upper motor override thresholds, and each threshold is a motor parameter (motor). It corresponds to the speed (of the motor, etc.). In some cases, the drive motor speed M is reduced to zero. Rather, it may even decrease to a certain low speed, thereby allowing the surgeon to be warned. However, the surgeon will have the discretion to decide whether or not to proceed. Actuator 21, Depending on the command positions 22 and 23, the actuator is set to the upper and lower limits of the motor override limit. When the limit is exceeded, the control system 60 commands a first value for the drive motor parameter and drives Motor M may be prevented from operating or from continuing to receive power. For each actuator: Even if the motor override limit value differs from the joint threshold of each actuator mentioned above, Good. For example, the motor override limit is narrower than the range defined as the joint threshold. A range may be defined, and the range of motor override limits is generally within the range of joint thresholds. This may also be the case. By using this visual indicator, the user can see each actuary To more easily avoid the upper and lower limits of the motor override limit value caused by the drive motor, This minimizes interruptions caused by the system stopping.

[0110] Controlling multiple actuators to position a tool at a desired location, such as a target plane. Therefore, although not limited to impedance control, admittance control, position control, or multiple Different control methods may be used, including hybrid control that uses different control embodiments. The admittance control embodiment is described in detail, but other methods may be used. It should be understood. In admittance control mode, the control system is (virtual or measured) It accepts a force input and commands a position (or motion) output. For example, admittance control. In this case, the system models the force or torque at a specific location on the virtual mass, and It acts to change the attitude of the virtual mass in order to achieve the desired target state of the impulse. - In dance control mode, the control system accepts position (or motion) input and force or tone input. Commands the loc output. For example, an impedance control system controls the position of the instrument (i.e., Measure, detect, or calculate position, orientation, velocity, or acceleration, and set the tool to a desired target state. Appropriate corresponding torques may be applied to each actuator to achieve this. Position control is used to control multiple actuators in the direction of performing a specific behavior. These control methods may be used. In order to implement these control methods, a behavior controller and motion controller are required. It should be understood that changes are needed for both Laura.

[0111] Even if the control system is configured to determine the orientation of the handheld part in a known coordinate system Good. The handheld position is commanded position, simulated commanded position, measured position, previous This may be a commanded posture, a previous measured posture, or a combination thereof. In one particular embodiment The position of the handle is the command position, and the command position of the handle is the position of the saw blade and the handle. This is the relationship between them. Alternatively, the control system can use a similar method to control the coordinate system in a known coordinate system. It may be configured to determine the orientation of the support. In the example described later, the commanded orientation is handheld. The calculation is performed based on the target plane (TP) for that portion. Further details regarding the conversions used are explained with reference to Figure 10, and it also states that This specification is incorporated by reference, filed on September 30, 2020. This is described in U.S. Provisional Application No. 63 / 085,651. The visual indicator is Control based on other postures, including postures calculated based on different components of the system. It should be understood that this is acceptable.

[0112] Based on the calculated orientation of the handheld portion relative to the target plane, the control system determines the pitch value The roll value, height value, or a combination thereof may be determined. In other words, the control system This is the position in translation that constitutes the commanded attitude (referred to as height (elevation) in this specification). (such as axial translation), orientation in roll, and orientation in pitch, etc., for more than one degree of freedom The position or orientation of the gripping part may be determined. Additionally or alternatively, the actuator assembly Depending on the characteristics of the yellowtail, the position and orientation of the handle are determined by factors such as yaw, x-axis translation, and y-axis translation, among others. These values ​​may be calculated using the degrees of freedom. The following description is based on the position or orientation of the handle and the range of motion of the handle. It should be understood that this is an example of a controllable dicator. However, tool support It is also intended that similar calculations can be performed with respect to other parts of the body or other tools or instruments. Therefore, throughout this specification, the characteristics of the handheld portion (posture, position, orientation or Any mention of controlling a visual indicator based on range of motion, etc., is a violation of the tool support or The device controls visual indicators based on the tool's posture / position / orientation or range of motion, etc. This can be replaced by controlling visual indicators based on the characteristics of other parts. Examples of these embodiments have been omitted for brevity.

[0113] The control system also determines or receives the theoretical range of motion of the handheld portion relative to the tool support. It may be configured to be reliable. In certain cases, the theoretical range of motion of the hand part is, It may also be based on a specific posture of the gripping part. This is because the range of motion in one or more degrees of freedom is different from another. This is due to the fact that it may change depending on the position or orientation of the handgrip at any given degree. For example, the range of motion in roll and pitch degrees of freedom is the same as the range of motion in height. It may change depending on the position of the part. In other words, the range of motion in the roll is At height value 1, it may be smaller than at height value 2. Theoretical range of motion data The t can be obtained empirically or mathematically. One such empirical method is... A statistically significant number of postures representing various relationships between the support and the handle portion, where the handle portion It may be to plot the actual posture. Based on empirically collected datasets. To plot and calculate the theoretical range of motion, various curve fitting algorithms and cycles were used. You may use the return function. Alternatively, the theoretical range of motion is the kinematics of the actuator assembly. It may also be calculated mathematically based on this.

[0114] In one example, the control system independently controls the range of motion for each of the multiple degrees of freedom. Calculations may be performed. For example, the control system may calculate the range of motion of the pitch, the range of motion of the roll, and the height. Calculate the range of motion. Referring to Figure 12, the range of motion of the handheld part is in a known coordinate system. This volume may be defined by the Cartesian model. The Cartesian Model 200 is a three-dimensional workspace where the hand part is relative to the tool support or vice versa. This represents the Cartesian model, which is used to determine the pitch, roll, translation, etc., of the handheld part. It is calculated in the same coordinate system as the posture being performed. The Cartesian model 200 understands the theoretical range of motion. It is used to determine the orientation of the tool support using pitch, roll, or This is expressed in terms of height values, i.e., the first, second, or third degrees of freedom. It is mapped to the Cartesian coordinate system used. The Cartesian model 200 uses x-coordinate, y-coordinate. Defined by the target and z coordinates, and can be mapped to roll, pitch, and height values. Yes, it is possible. As mentioned above, the Cartesian model 200 representing the three-dimensional workspace of the tool support is It may also be derived from empirical data. For the Cartesian model 200, the rhombic shape is shown. However, the Cartesian model can have a suitable three-dimensional shape and is not necessarily symmetrical. This should be understood. Furthermore, the Cartesian model can be represented by multiple intersecting lines. Often, the equations for each of these intersecting lines are based on empirical data. ) Based on various regressions from, or based on the kinematics of the actuator assembly, it is calculated. It should be understood that this is possible.

[0115] The shape of a given Cartesian model is such that it is a volume of an octahedron, asymmetric octahedron, sphere, cube, cylinder, etc. It may be implemented as follows. In particular, in some examples, each actuator is home Regarding the planar position between the tool support 18 and the handle portion 16 when in position, In the Cartesian model, when defined as volume, the Cartesian volume is the volume below the plane. The shape may be asymmetrical, such that the upper part of the plane is larger than the lower part. In this example, volume This volume may be defined by multiple Cartesian points. This volume is smaller than the handy workspace. It may be (smaller than all reachable configurations). Alternatively, a given Cartesian model These can be defined separately for each degree of freedom. For example, the Cartesian model can have multiple Cartesians. It may also be defined using the point. A given Cartesian space has an axis, that is, along that axis and The axis around which the saw blade can be displaced is any one of the axes (x, y, z), It may be defined by one or more orientations based on two or three factors.

[0116] Essentially, the Cartesian model 200 is used to represent the posture of the handheld part, and The relationship with the Cartesian coordinate system used to understand the theoretical range of motion is known. For simplicity, the origins of the two Cartesian coordinate systems are either aligned with each other or relative to each other. In contrast, it is assumed that this is already known and may be referred to synonymously throughout this specification. Depending on the configuration of the ETA, the range of motion of a certain degree of freedom may not be important, therefore all There is no need to compare the position or orientation within the degrees of freedom with the theoretical range of motion.

[0117] The Cartesian model 200 can be understood as containing multiple 2D slices, and each slice This represents the range of motion in two degrees of freedom, based on the position or orientation in the third degree of freedom. In 12, each 2D slice (202', 202'') is a pin at a specific height value. This represents the range of motion in the tactile and roll degrees of freedom. Referring to Figure 12, the lower height... Slices accommodate an additional range of motion in pitch and roll compared to slices at higher heights. This is easily apparent. Overall, regarding the Cartesian model, as mentioned above, each 2D A slice may be represented by multiple lines, such as four lines. An equation is defined for each line. The region enclosed by the intersections of these lines can be understood as a two-dimensional slice region. ru.

[0118] Referring to Figures 13 to 20, regarding the theoretical range of motion of the handheld part, there are multiple 2 Dimensional slices 202''' and 202'''' should be understood as multiple 2D regions. This is possible, and each region defines its own origin at a specific height. Therefore, a 2D slide is formed. Each of the chairs can be understood in polar coordinates. Pitch value and roll value (x1, y 1;x²,y²;x * ,y * ...) The outer boundary of the 2D region corresponding to that particular It is at the outermost limit of the range of motion of the handheld part in terms of height. The number of 2D slices is particularly limited. Alternatively, (only two are shown in Figure 12) the data can be plotted at discrete height intervals such as 0.1 mm. In other words, for the entire Cartesian model, at intervals of 0.1 mm, the smallest possible height A two-dimensional region can be calculated from the base value to the maximum height value. Of course, any suitable interval can be used. It may also be used. The control system is a two-dimensional control system that most closely corresponds to the height value of its commanded attitude. You may select an area.

[0119] Generally, the control system controls the actual position or orientation of the handheld part in one or more degrees of freedom, and It is configured to control a visual indicator based on the range of motion in more than one degree of freedom. This is based on the position or orientation and range of motion of the handheld part in the first degree of freedom. Based on the position or orientation and range of motion of the handheld part in the second degree of freedom, in the third degree of freedom... The visual indicator is controlled based on the position or orientation and range of motion of the handheld portion. It may include. As mentioned above, visual indicators also have position in other degrees of freedom and It can also be controlled based on orientation.

[0120] Furthermore, the control system includes a first posture of the handheld part and a first movable position based on the first posture. Determine the range of motion, determine the second position of the handheld part, and determine the second range of motion based on the second position. It should be understood that it may be configured to define the first range of motion and the second range of motion. This is different, and the first and second postures are different from each other, that is, two different It should be understood that this represents the orientation of the handheld part in the case of time. The range of motion in the upper part may be determined by the position or orientation of the handheld part in another degree of freedom. Because of this property, the range of motion may differ between the first and second ranges of motion. The stem determines the position or orientation of the handgrip based on the first posture in the first degree of freedom. and control the visual indicator based on a first position or orientation and a first range of motion, and the first Based on the second posture in the degrees of freedom, the second position or orientation of the handheld part is determined, and the second The visual indicator may be controlled based on its position or orientation and a second range of motion. For example, The control system determines the orientation of the handgrip portion on the roll at the first time point and the handgrip portion on the roll. Determine the range of motion of the orientation of the handle part, and the orientation of the handle part in the roll at the second point in time. The range of motion of the handheld part in the rod may be determined, and the rod may be adjusted between the first and second time points. The roll is different, and the range of motion in the roll is also different between the first and second time points, and accordingly The visual indicator is controlled. This example is provided for roll, but also for pitch, and parallel It should be understood that the same calculation can be performed in terms of movement (height, etc.) or other degrees of freedom. This allows the visual indicator to accurately display the range of motion of the handheld surgical instrument. It can always be communicated, which allows the equipment to be used more appropriately, The surgical procedure was interrupted because the instrument was moved in a location where the surgeon no longer had sufficient range of motion. This can reduce the likelihood of this happening.

[0121] For example, at each height value, a specific theoretical range of motion for pitch and roll is achievable. Yes. Therefore, as mentioned above, the range of motion of pitch or roll is plotted as It is intended that this may be determined by the height value. In other words, the first height (Figure In Figures 13-18, the handheld portion reaches a first range of pitch and roll values. It may be possible to do so, and at the second height (see Figures 19 and 20), the handle portion The pitch and roll values ​​may reach a second range, and the pitch and roll values The first range differs from the second range of pitch and roll values ​​at different heights. This difference in range of motion is due to the kinematics of the actuator assembly and the relationship between the tool support and the handgrip. It is based on joints used to connect multiple actuators between them.

[0122] Because the range of motion of the handle may differ depending on the height, various 2D slice regions The outer boundaries may also differ from one another, and therefore the shape and size of the 2D slice region. The regions may also be different from each other. For example, a particular 2D slice region may be symmetric. This is also true, and on the other hand, other 2D slice regions may be asymmetric, and a certain 2D slice The rice region may be polygonal, while the other 2D slice regions may be circular. This is good, etc. As shown in Figures 19 and 20, the 2D slice region is essentially triangular. Yes, on the other hand, in Figures 13 to 18, the 2D slice region is essentially a pentagon. For details, please refer again to Figures 13-18, 19, and 20 to see the range of motion of the handheld part. Among the multiple 2D regions defined together, one of the 2D regions is at the first height. Corresponding to the first range of motion of pitch and roll, another of the two-dimensional regions is the second It corresponds to a second range of motion for pitch and roll in terms of height.

[0123] To understand the relationship between the posture of the handheld part and the theoretical range of motion through scaling, The position or orientation of one or more of the gripping parts is determined in polar coordinates based on multiple 2D slice regions. It can also be modeled as follows: The outer boundary of each 2D region is the four coordinates representing pitch and roll. It may also be defined based on the equivalence of at least four pairs of coordinates, but each is itself It is often represented by a series of lines with equations. More specifically, as mentioned above, The posture may include pitch values, roll values, height values, or values ​​in other degrees of freedom. Then, a two-dimensional region corresponding to the commanded orientation of the handheld part is selected. In one example, this is: By selecting a two-dimensional region of theoretical range of motion corresponding to the commanded height value of the handheld part, Therefore, it will be carried out.

[0124] The pitch and roll values ​​corresponding to the commanded attitude height are plotted in a 2D slice region. It can be understood as a vector. This vector is called an actual deviation vector. From the origin of the 2D domain, the pitch and roll values ​​of the commanded attitude in Cartesian space It extends to the defined endpoint. More broadly, the actual deviation vector is multiple 2D regions. From at least one of the origins, the position of the handheld part in the second degree of freedom and the third degree of freedom I understand that it extends to a point defined in the polar coordinate system based on the position of the handheld part in the degree of freedom. The first degree of freedom can be multiple 2D regions for plotting the actual deviation vectors. Defines which of the following will be selected. In a particular example, the endpoints of the deviation vector are If the actual deviation vector has infinite magnitude, then the two-dimensional intersection with the actual deviation vector. The boundary portion of the slice may be characterized by one or more equations that define it.

[0125] The actual deviation vector shows its magnitude and direction. Figure 14 shows the actual deviation vector. This is displayed as ADV1, with x1 being the roll value and y1 being the pitch value, i.e., approximately 8 degrees. It supports pitch and 14-degree roll. ADV1 supports an angle θ2 of approximately 30 degrees and 16 It has the following magnitude. In Figure 16, the actual deviation vector is shown as ADV2. This corresponds to x2, y2, which is equal to a roll of -10 degrees and a pitch of -6 degrees. AD V2 has an angle θ4 of approximately 210 degrees and a magnitude of 12. In Figure 17, The actual deviation vector is displayed as ADV3, corresponding to x3, y3, which represents -4 degrees. It relates to roll and pitch of -2 degrees. ADV3 is at an angle θ5 of approximately 210 degrees, and 5 and It has the magnitude of [this]. In Figure 20, the actual deviation vector is shown as ADV4. x4 and y4 correspond to approximately 12 degrees of roll and 4 degrees of pitch. ADV4 It has an angle of approximately 30 degrees θ8 and a size of 13.

[0126] Referring to Figures 13, 15, 18, and 19, in a particular embodiment, the control system Them uses the same 2D slice region to model the actual deviation vector. In other words, with respect to the same height, the range of motion vector (RMV1~4) or range of motion line (RML1~ Further determine RML4). The length of the range of motion lines (RML1~4) is determined by the pitch value and roll value. A specific combination of these elements represents the possible range of motion for that height value, while the length of the range of motion vector is also represented. This is possible for a specific combination of pitch and roll values ​​relative to the height value on one side of the origin. This represents the range of motion. More specifically, the control system determines the position of the handheld part in the first degree of freedom. Alternatively, it is configured to determine the range of motion lines in the polar coordinate system based on orientation. A domain boundary is located at an angle from the boundary point of a 2D region to the opposite side of that boundary point within the same 2D region. It extends to the boundary point. In other words, the range of motion line can be understood as two line segments. The first line segment has a first angle, and the second line segment has a first angle + 180 degrees. Thus, both the first and second line segments extend from the same origin, and both also originate from the same point. It extends to a point on the outer boundary of the 2D slice. The first angle is the deviation in each calculation. It is always equal to the angle of the vector. Based on this configuration, the range of motion line is always equal to the actual deviation vector. Although they lie on the same line, they do not have the exact same spread as the actual deviation vector. (Range of motion line) The size can be calculated using various methods. For example, the range of motion line and the 2D slice region It is the intersection point with one of the defining lines. The range of motion line can also be expressed by an equation, and the range of motion Solve the equation for the line and the line that defines the boundary region where it intersects with the range of motion to determine the range of motion. Find two sets of x and y values ​​at the intersection points of the movable range line and the 2D slice region at both ends of the line. It should be understood that this is possible. Based on these two sets of x,y values, the size of the range of motion line The range of motion vector is equal to the angle of the actual deviation vector. It has. One line segment of the range of motion line may be constructed from the range of motion vector.

[0127] In Figure 13, the range of motion vector is shown as RMV1, with the pitch value of y5 and x5 The roll value corresponds to approximately 10 degrees of pitch and 18 degrees of roll. RMV1 is It has an angle θ1 of approximately 30 degrees and a size of 21. In Figure 15, the range of motion is The clef is displayed as RMV2, corresponding to x3, y3, which is a -12 degree roll and This is equivalent to a pitch of -7 degrees. RMV2 has an angle θ3 of approximately 210 degrees and a magnitude of 14. It has the following characteristics. In Figure 18, the range of motion vector is shown as RMV3, x9, y9 This corresponds to an 18-degree roll and a 12-degree pitch. RMV3 is approximately It has an angle θ6 of 30 degrees and a magnitude of 22. In Figure 19, the range of motion vector is Displayed as RMV4, x11, y11, i.e., approximately 20 degrees of roll and 6 degrees It corresponds to the pitch. RMV4 has an angle θ7 of approximately 30 degrees and a magnitude of 21. RML1 (terminated at x6, y6), RML2 (terminated at x7, y7), RML3 (terminated at x10 RML4 (terminated at x12, y12) and RML4 (terminated at x12, y12) are respectively RMV formats. It is also large. However, as can be understood from the diagram, the size of RML is not necessarily It is not twice the size of the RMV. The reason for this is that the 2D region is at each angle of the RMV. This is because it is not necessarily symmetrical with respect to its origin. The specific examples to be discussed later are examples of range of motion. The visual indicator is controlled based on a comparison between the magnitude of the vector and the magnitude of the actual deviation vector. It mentions controlling, but the visual input is based on the size (i.e., length) of the range of motion. It is also intended that the dicator be controlled.

[0128] In order to appropriately compare the range of motion line or vector with the actual deviation vector, the deviation vector The direction of the vector must be equal to the direction of the line segment of the range of motion or the angle of the deviation vector. In other words, each angle θ must be equal to the others. Alternatively, the range of motion vector is calculated based on the direction of the actual deviation vector. Similarly, two To appropriately compare the magnitudes of the vectors, or the actual deviation vector and the magnitude of the range of motion line To make a proper comparison, the range of motion line is the extension of the actual deviation vector in a two-dimensional domain. It must extend through the same origin, and the range of motion vector is the extension of the actual deviation vector. It must extend from the same origin as the building. The range of motion line is the handheld line for more than one degree of freedom. It can also be understood as extending to two boundary points of a two-dimensional region based on the position of the part, Alternatively, the range of motion vector can be understood as extending to a single boundary point in the two-dimensional region. The range of motion is based on a two-dimensional domain, as well as the ends of the range of motion lines within that two-dimensional domain. The range of motion may be calculated based on two pairs of coordinates that define the boundary points, while the range of motion is calculated based on two pairs of coordinates that define the boundary points. The magnitude of a vector is based on the origin of the 2D domain, as well as the range of motion vector on the 2D domain. The calculation may also be based on the pair of coordinates that define the ends of the boundary, i.e., the boundary points.

[0129] Regarding Figures 13 and 14, θ1 is equal to θ2, and the magnitude of ADV1 is greater than RMV1. It should be understood that it is small. The control system is the size of RMV1 and ADV1. By mathematical comparison, we can determine the arbitrary given form of the handheld part relative to the nearest range of motion boundary. In this case, it is possible to estimate the proportion of the range of motion remaining in the handheld part. For example, A By dividing the size of DV1 by the size of RMV1, the grip for the nearest range of motion boundary is determined. In that position, approximately 22 percent of the range of motion remains for the handheld part. It can be understood that these magnitudes of the range of motion vectors and the actual deviation vectors You can use this to control the visual indicators displayed throughout the entire document.

[0130] Regarding Figures 15 and 16, θ3 is equal to θ4, and the magnitude of ADV2 is greater than RMV2. It should be understood that it is small. The control system is the size of RMV2 and ADV2. By mathematical comparison, we can determine the arbitrary given form of the handheld part relative to the nearest range of motion boundary. In this case, it is possible to estimate the proportion of the range of motion remaining in the handheld part. For example, A By dividing the size of DV2 by the size of RMV2, the handheld portion in that position can be calculated. You can understand that approximately 17 percent of the range of motion remains in the handheld portion. It is possible. Using these magnitudes of the range of motion vectors and the actual deviation vectors, throughout the whole process... The visual indicators displayed can be controlled.

[0131] Regarding Figures 15 and 17, θ3 is equal to θ5, and the magnitude of ADV3 is greater than RMV2. It should be understood that it is small. The control system is the size of RMV2 and ADV3. By mathematical comparison, we can determine the arbitrary given form of the handheld part relative to the nearest range of motion boundary. In this case, it is possible to estimate the proportion of the range of motion remaining in the handheld part. For example, A By dividing the size of DV3 by the size of RMV2, the handhold for the nearest range of motion boundary is determined. In that position, approximately 66 percent of the range of motion remains for the handheld part. It can be understood that these magnitudes of the range of motion vectors and the actual deviation vectors You can use this to control the visual indicators displayed throughout the entire document.

[0132] Regarding Figures 14 and 18, θ2 is equal to θ6, and the magnitude of ADV1 is greater than RMV3. It should be understood that it is small. The control system is the size of RMV3 and ADV1. By mathematical comparison, in any given orientation of the handheld part, the remaining part of the handheld part It is possible to estimate the percentage of the range of motion being used. For example, if the size of ADV1 is RMV3 By dividing by size, the orientation of the handheld part relative to the nearest range of motion boundary is determined. You can understand that approximately 26 percent of the range of motion remains for the handheld part. It is possible. Using these magnitudes of the range of motion vectors and the actual deviation vectors, throughout the whole process... The visual indicators displayed can be controlled. The origin of the deviation vectors 13 and 14. They are different, and as a result, the magnitude of each vector may change. It should be understood.

[0133] The origin can be set in several different ways relative to the actual standard score vector. In one example, the origin may be set as the center of mass of a two-dimensional region. Alternatively, the origin may be It may also be set as a point other than the center of mass of a two-dimensional region, such as the geometric center. Alternatively, further The origin may be set such that the range of motion in a particular degree of freedom is biased on both sides of the origin. For example, comparing Figure 14 and Figure 18, the degree of freedom of pitch is relative to the movement above the origin. The range may be greater than the range of motion below the origin. This can result in one side of the range of motion or This involves controlling visual indicators asymmetrically to guide the user towards preferring the other side. This is possible. The reason is that, compared to Figure 18, in Figure 14 the user raises their hand. This is because it is more likely to be prompted to move downwards than in the direction of the hand. This may also apply to configurations where the user moves their hands in a certain direction. If there is a tendency to tilt or twist, or based on the cut selected by the user, In other words, the control system will not be able to determine which disconnection is selected by the user. Based on this, it may act to set the origin of the actual deviation vector. Alternatively, The control system has a user interface that allows the user to select a configuration in which the origin is changed. You may present your face.

[0134] Regarding Figures 19 and 20, θ7 is equal to θ8, and the magnitude of ADV4 is greater than RMV4. It should be understood that it is small. The control system is the size of RMV4 and ADV4. By mathematical comparison, we can determine the arbitrary given form of the handheld part relative to the nearest range of motion boundary. In this case, it is possible to estimate the proportion of the range of motion remaining in the handheld part. For example, A By dividing the size of DV4 by the size of RMV4, the handhold for the nearest range of motion boundary is determined. In that position, approximately 60 percent of the range of motion remains for the handheld part. It is possible to understand that these magnitudes of the range of motion lines and the actual deviation vectors are You can use it to control the visual indicators that are displayed throughout.

[0135] The control system includes the magnitude of the actual deviation vector, the magnitude of the range of motion vector, and the actual deviation. Based on the direction of the vector, the direction of the vector in the range of motion, or a combination thereof, the visual indicator It is configured to control the caterer.

[0136] Furthermore, the control system uses the x component (corresponding to the roll) of the actual deviation vector and (pitch By separating and comparing the y component (corresponding to the pitch), the pitch degree of freedom or roll degree of freedom can be determined. The visual indicator is controlled independently based on the remaining range of motion in (or other degrees of freedom). It is also possible to do so. In other words, the pitch index of a visual indicator is the actual deviation vector. It may also be based on the y component. Similarly, the roll index may be based on the x component of the actual deviation vector. It may be controlled by... Furthermore, based on both components of the actual deviation vector, in this specification... An index that simultaneously displays pitch and roll, called the pitch-roll index, may be controlled.

[0137] Referring again to Figures 14, 16, and 17, the visual information is based on the characteristics of the range of motion vector. As an alternative to controlling the indicator, the control system also controls other aspects of the range of motion. Visual indicators may be controlled based on calculations. This alternative method applies to each degree of freedom. This alternative is particularly useful when a separate visual indicator is used and controlled. In the example, the range of motion in a particular degree of freedom is based on the posture of the handheld part (more specifically, It is calculated based on one or more degrees of freedom of the commanded attitude. For example, referring to Figure 14, the commanded attitude If the attitude is defined as a specific roll, pitch, and height, then based on the characteristics of the commanded attitude, A pitch range of motion is generated, and a roll range of motion is generated. The commanded shape for pitch and roll. The momentum is represented by x1, y1 (14 degrees of roll, 8 degrees of pitch). Based on this posture... The range of motion in degrees of freedom can be understood as the length of the straight line extending between points P1 and P2. This is possible. In other words, the size of the range of motion available in pitch degrees of freedom is determined by the command. Direction of roll degrees of freedom in posture (roll 14 degrees, available angles in pitch (- Defined by (6 degrees to +12.5 degrees). This range of motion represents a specific degree of freedom. The replacement method is based on the posture in different degrees of freedom (roll in this example), as well as the range of motion. Based on the Cartesian model, select the range of motion for the degrees of freedom (such as pitch).

[0138] Furthermore, referring to Figure 14, as another example, the control system is in pitch such as commanded attitude. The range of motion in the roll may be determined based on the posture. The command posture in the pitch is , 8 degrees. The range of motion in the roll based on this posture extends between point R1 and point R2. It can be understood as the size of a straight line. In other words, the pitch is +8 degrees, and the roll The range of motion in this case can be understood to be in the range of -22 degrees to +22 degrees.

[0139] Referring to Figure 16, the commanded position of the handheld part is -10 degrees for the roll and - for the pitch. It is determined to be 6 degrees (see x2, y2). Based on the value of -10 degrees in the roll degrees of freedom, The range of motion in terms of pitch degrees of freedom is from +13 degrees to -9 degrees, i.e., from P3 to P4 The size is 22 degrees (defined by the size of the line extending to ). Pitch degrees of freedom -6 Based on the value of degrees, the range of motion for the roll degrees of freedom is -15 degrees to +15 degrees, that is, (from R3) It is calculated to be 30 degrees (determined by the length of the straight line extending to R4).

[0140] Referring to Figure 17, the commanded position of the handheld part is -4 degrees for roll and -2 degrees for pitch. The degree is determined (see x3, y3). Based on the value of -4 degrees in the roll degrees of freedom, the pitch is The range of motion in degrees of freedom is in the range of +12.5 degrees to -14 degrees, i.e., from P5 to P6. The size is 26.5 degrees (defined by the size of the line extending from it). Based on a value of 2 degrees, the range of motion for the roll degrees of freedom is -19 degrees to +19 degrees, that is, (R5 or It is calculated to be 38 degrees (determined by the length of the straight line extending to R6).

[0141] Furthermore, it is stated that the size of the roll range of motion is based on the pitch component of the commanded posture, The range of motion is determined by other components of the commanded posture, such as height, yaw, x-axis translation, or y-axis translation. It should be understood that decisions can also be made based on this. The same applies to the pitch range of motion. This also applies to the size of the pitch range of motion, as well as the height, yaw, x-axis translation, or y-axis translation. It should be understood that this can be determined based on other components of the command attitude, such as advance. That's the point.

[0142] As mentioned above, the range of motion varies depending on the configuration of the visual indicator. It may be decided as follows. As will be described later, certain embodiments of the visual indicator, in particular, For those that include a single index for each degree of freedom, the magnitude of the range of motion in a particular degree of freedom. This is based on the values ​​of degrees of freedom for different degrees of freedom, and also based on the Cartesian model. It may be fixed. Other visual indicators such as a light source array that shows pitch and roll together. In the embodiment, the magnitude of the range of motion vector described above may be used, or the magnitude of the range of motion line may be used. You may base it on size.

[0143] Referring to Figures 1, 21-24, and 26-27C, there is one visual indicator. The above display screens 300, 401, 500, 600, and 700 UI may also be included. The surface may take on various forms.

[0144] Referring to Figure 21, the control system is the handheld part in the first degree of freedom (translational degree of freedom). Based on the minute position, control the display screen 300 to display the translation index 302. Further configuration is possible. The display screen may be a translation reference of a size such that it shows the threshold within the translation range. It may further include Ject 304. Translational index 302 is the part of the translational degrees of freedom that is held in place. Based on the position or orientation and the translation threshold, within the translation reference object 304 or the translation reference object The object 304 may be positioned relative to the object. The translation threshold is determined based on the range of the translation threshold. In fact, the translation threshold may actually include an upper translation threshold and a lower translation threshold. The translation threshold range may be based on the Cartesian model representing the three-dimensional workspace described above. In certain cases, the display screen 300 displays two or more translation reference objects 304. It is configured to display, and at least one translation reference object 304 is displayed on the display screen 300. It is located on each side. Each of the translation reference objects 304 has a translational degree of freedom, such as height. It may include a translation index 302 based on the position of the handheld part in the degrees of freedom. In one example... The position of the handheld part is 5 degrees of freedom in height (as determined by the commanded posture). If it is determined that the range of motion in the height degrees of freedom is +10 to -10, then translation finger The target may be positioned at approximately 75% of the height of the translation reference object. In other words, The position of the translation index within the translation reference object is the command height relative to the range of motion available for height. It provides a scaled understanding of the position.

[0145] Referring to Figure 22, the control system is large in the actual deviation vector in the roll degrees of freedom. Based on the components of size and the magnitude of the range of motion in the roll degrees of freedom, the roll index 402 is calculated. The display screen 400 may be configured to control the display to show as described above. The magnitude of the range of motion in the degrees of freedom may be based on the pitch component of the commanded posture. Furthermore, Display screen 401 is configured to display the role criteria object 404, where The roll index 402 is calculated by comparing the x-component of the actual deviation vector with the range of motion in the pitch degrees of freedom. Positioned relative to the roll reference object based on the position. The ct 404 has multiple spatial annotations 406 positioned at indicated locations with respect to the arc. It may include, and each spatial annotation 406 identifies the known angles associated with it, thereby each Spatial annotation 406 allows for a visual evaluation of the roll of the hand portion relative to the tool support. It is possible.

[0146] Referring to Figures 23 and 24, the control system controls the x and y components of the actual deviation vector. The magnitude of the components (pitch component and roll component), and the magnitude of the range of motion in the roll degree of freedom. Based on the range of motion in pitch degrees of freedom, the pitch-roll indices 502 and 602 are used. It may be further configured to display. In certain cases, pitch roll indices 502, 602 This is a two-dimensional representation of a three-dimensional virtual object, and this two-dimensional representation is the actual deviation vector. It is constructed based on the size and direction of the curve and the size and direction of the range of motion line. Exemplary 3 The dimensional object is a polygon representing a saw blade, and the polygon has a front and a back, and the polygon The back is positioned opposite the front of the polygon, and the front or back of the polygon is the actual deviation. The x and y components (pitch and roll components) of the chute, and the movement in the roll degree of freedom Positioning is determined based on the size of the area and the size of the range of motion in the pitch degrees of freedom. In this embodiment, the control system uses the y component (pitch component, etc.) of the actual deviation vector and the pitch The range of motion of the handheld part in the range of freedom is determined, and the y-form of the actual deviation vector is determined. Configured to display a pitch-roll index based on the magnitude of the pitch component in minutes and range of motion. It is also possible to do so. More specifically, the position of the 2D representation is determined based on the ratio of these values ​​within the display screen. It may be scaled (vertically) to the appropriate position. Similarly, the control system is actually The x-component (roll component, etc.) of the deviation vector and the range of motion of the handheld part in the roll degrees of freedom. The size may be determined and the display screen may show the x component of the actual deviation vector. Based on the ratio of the range of motion in the roll degrees of freedom, the 2D representation is positioned appropriately (rotation). It may be configured to scale (in a rotatable manner).

[0147] Regarding the leftmost display 500 in Figure 23, the relationship between the pitch of the handheld part and the size of the pitch range of motion The ratio is such that the y component of the actual deviation vector is close to the bottom of the range of motion (within the pitch degrees of freedom), Therefore, the front of the pitch-roll index 502 is close to the bottom of the screen. (Center of Figure 23) In display 502', the pitch of the handheld part is close to the maximum range of motion in terms of pitch freedom. Therefore, the front pitch roll indicator 502' is close to the top of the display. Also, Figure 23 Referring to the rightmost display 502'', the pitch component of the handheld portion is in the pitch degrees of freedom. It is located in the center of the range of motion, and therefore, the front of the pitch-roll indicator is in the center of the display screen. For each of these, a virtual object is displayed so that the object behind it is not visible. It can be done.

[0148] Regarding Figure 24, the pitch-roll index 602 is the pitch component of the commanded attitude in the pitch degrees of freedom. Positioned on the display screen 600, indicating that it is in the lower half of the range of motion. As you can see, the center of the pitch range of motion is between the lower pitch limit #2 and the upper pitch. It lies between pitch limit #1 (i.e., the median of the pitch range of motion). These upper pitches The pitch limit and lower pitch limit may correspond to the outer boundary line of the pitch range of motion.

[0149] Referring to Figures 27A to 27C, the handgrip and tool support are three different The device in its form is shown. Regarding Figures 27A to 27C, each display screen shows the roll finger Figure 702 shows the indicator, height indicator 704, and pitch-roll indicator 706. Figure 27A shows the handheld section. The minutes are based on the fact that the pitch and roll are misaligned and the height is centered. The status of indicator 702, height indicator 704, and pitch-roll indicator 706 is shown. For more details, see Figure Figure 27A shows the handle in the lower left corner of the range of motion. Figure 27B shows the handle Roll index 70, based on pitch and roll being misaligned and height being off-center. 2. The status of the height index 704 and the pitch-roll index 706 is shown. For more details, see Figure 27B. This indicates a pitch-roll index of 706, which corresponds to the handgrip being located in the upper right corner of the range of motion. Figure 27C shows that the handle portion has a pitch difference and the height degree of freedom is at the desired position. The following shows the state of the roll index 702, height index 704, and pitch-roll index 706.

[0150] In a certain configuration, Figures 28-31, 33A, 34, 37 and 42B are used. For reference, the visual indicator includes multiple light sources. See Figures 28-30 for more details. For reference, the visual indicator 800 is known as the pitch-roll indicator 804. One or more light sources corresponding to the pitch and roll degrees of freedom, and a translational visual indicator 802 One or more light sources corresponding to the translational degrees of freedom (i.e., height) known as and two handheld parts Light configured to indicate whether or not the degree of freedom is within a certain threshold of the home position. Source 806 may also be included. The control system controls the state of at least one of the multiple light sources. The control system may be configured to control the magnitude of the actual deviation vector, The direction of the deviation vector, the magnitude of the range of motion vector, or the magnitude of the range of motion line, the range of motion vector Based on the direction of the light or a combination thereof, the state of multiple light sources 802, 804, and 806 is determined. Control one or more of the following: pitch direction, roll direction, and translational position. The desired changes described above may be shown to the user simultaneously. Alternatively, as mentioned above, visual indicators The caterer exhibits the desired changes in degrees of freedom other than height, pitch, and roll, as described above. It may include fewer or additional light sources than those mentioned above.

[0151] The state of the multiple light sources 802, 804, and 806 is determined by the light of at least one of the multiple light sources. Whether the source is on or off, the frequency of the light pulses emitted by at least one light source, The intensity of light emitted by one light source, the color of at least one light source, or their Combinations may be included. These states involve sending a specific command to the light source, or multiple Controlled by controlling the current, voltage, or combination thereof supplied to a number of light sources. That's fine.

[0152] Visual indicators are designed to maximize the supply of information to surgeons in an intuitive manner. It may include multiple light sources arranged in a specific manner relative to each other. In one configuration, multiple At least three of the light sources, pitch roll light sources 804, are on a common plane with respect to each other. This allows the surgeon to see the pitch roll light source 804 as representing the plane of the handheld portion 16. It may be possible to understand this intuitively. Here, we will mention three light sources. However, any number of light sources may be positioned on a common plane, for example, at least Four, six, eight, ten, or twelve light sources may be positioned on a common plane. i. At least three of the multiple light sources 804 of the pitch roll surround the central axis 808. They may be arranged as shown, and these are collectively referred to as Array 805. In other words, the array Multiple light sources are arranged radially at equal distances from the center point, creating the appearance of a circle. They can be placed as they are, and more generally, multiple light sources can be arranged to surround the central axis 808. good.

[0153] As described above, the surrounding array 805 of the light source is based on the magnitude of the actual deviation vector. It may be controlled by a control system. The light source enclosure array 805 also has a range vector. The control may be based on the magnitude of the deviation vector. In other words, the control system may be based on the actual deviation vector. The magnitude of the Array 805 is compared with the magnitude of the vector of the range of motion, and based on that comparison, One or more light sources 804 that make up the system may be illuminated. It may be divided into predetermined equal fractions, such as 1 / 3, or other fixed percentage intervals. These fractions of the magnitude of the domain vector can be used to facilitate the control of multiple light sources. You may generate one or more deviation thresholds. For example, the deviation thresholds may be an upper deviation threshold and a lower deviation threshold. It may also include a difference threshold. However, its magnitude may be used to determine the upper and lower deviation thresholds. In addition to the deviation threshold, any number of thresholds may be generated, including the threshold itself. Furthermore, their magnitude For example, use a set of nested elements within 20% of the center of the magnitude of the range of motion vector. A threshold range may be generated, which is the first nested range, and the range of motion vector It may be within 80% of the center of the size.

[0154] The upper and lower deviation thresholds or ranges are determined by the desired position or range in a particular degree of freedom. It may also be set based on orientation. More specifically, for example, with respect to pitch, lower nesting range Even if you set it to the median value of the range of motion, which corresponds to 20% of the magnitude of the range of motion vector, Good. In other words, if the pitch range is -10 degrees to 10 degrees, the lower limit deviation threshold is, It may also be set to -2 degrees to +2 degrees. The pitch component of the actual deviation vector is -2 degrees to +2 degrees. If within range, the control system will either turn all light sources on or turn all light sources off. To present a specific lighting pattern, such as when a light source is controlled to illuminate a particular color. The array 805 may be controlled in such a way. With respect to the roll degrees of freedom, the lower limit nesting range is The median value of the range of motion in the roll degrees of freedom may be set to 20%. In other words, the range of motion of the roll If the range of motion is -10 degrees to 10 degrees, the lower limit nesting range can be set to -2 degrees to +2 degrees. i. If the roll component of the actual deviation vector is within the range of -2 degrees to +2 degrees, the control system M means all light sources are on, all light sources are off, or all light sources are specific Array 805 is controlled to illuminate in a specific color, or to present a specific lighting pattern. The control system may be used to control the lower limit of the deviation value range for two or more degrees of freedom. It is also intended that the array 805 may be controlled simultaneously. In other words, the control system Based on the pitch and roll and the nested range corresponding to the pitch and roll, the array 805 may be controlled. Therefore, the array controls the pitch and roll components of the commanded attitude. If both are within the lower limit nested range, then a specific pattern such as all lights on or all lights off will occur. It may be sufficient to simply present the following. Similarly, both the pitch and roll components of the commanded attitude are included. If the nested range values ​​are within the upper limit set, or if the pitch and roll components of the commanded attitude are nested If outside both the lower bound set of range values ​​and the upper bound set of nested range values, all lights on or all The array may be controlled based on whether the lights are turned off or not.

[0155] Referring to Figure 25, a schematic diagram of the array 805 of the visual indicators 800 is shown. The control system identifies the root light source 810 in the light source enclosure array 805. Further configuration is possible. This may be calculated based on the direction of the actual deviation vector. The light source 810 may be the pitch roll light source 804 that is closest to the angle of the deviation vector. i. The root light source 810 may be either a real light source or a virtual light source. If it is a virtual light source, Another step is needed to determine which real light source is closest to the virtual light source. By modeling with virtual light sources, the algorithm can be adapted according to the mechanical configuration of the lighting array. It can be scaled (the same algorithm can be applied to all different spatial arrangements of LEDs) (Can be applied). In Figure 25, for simplicity, all pitch roll light sources 804 Assume that is a real light source. The actual deviation vector θ is the second light source clockwise from the uppermost light source. Since it is closest to the angle corresponding to the light source, the second light source is considered to be the root light source 810.

[0156] The control system controls the root light source 810 on the first side and the second side, i.e., the root light source 8 Further configured to identify at least two adjacent light sources 812 adjacent to the right and left of 10 This may also be the case. Once the adjacent light source 812 is identified, the control system determines the magnitude of the actual deviation vector. Based on the magnitude of the range vector, the state of at least two adjacent light sources is controlled. It may be configured as follows. The state of the two adjacent light sources 812 is such that at least two adjacent light sources are It may be either ON or OFF. Alternatively, the control system may have at least two Frequency of light pulses emitted by adjacent light sources, emitted by at least two adjacent light sources The intensity of the light, the color of at least two adjacent light sources, or a combination thereof may be controlled. The adjacent light source 812 is a light source in the array 805 that is oriented clockwise with respect to the root light source. and may include light sources in a counterclockwise direction relative to the root light source. In one example, the pitch The range of motion is -10 to +10 (derived from the range of motion vector), and the pitch value (i.e.) If the y-component of the deviation vector is 8 (outside the nested range of -4 to +4), the control system The adjacent light source 812 may be illuminated. The pitch has a movable range of -10 to +10. The sub-range is -4 to +4 in pitch, and the pitch component of the command attitude is 2, which is within the range. In some cases, the control system does not need to illuminate the adjacent light source 812. Other degrees of freedom, in particular, It should be understood that similar control may be applied to the degrees of freedom.

[0157] In a particular embodiment, the control system uses the adjacent light source 812 ("primary adjacent") described above. Identify additional groups of adjacent light sources ("secondary adjacent light sources") (814) that are adjacent to the "light source". It may be further designed. The state of this additional group of adjacent light sources 814 is the actual deviation. Further control may be performed based on the magnitude of the chute and the magnitude of the range of motion vector. For example, control Your system compares the primary adjacent light source 812 and the secondary adjacent light source 8 It is intended that 14 states may be controlled. More specifically, the control system is actually If the magnitude of the deviation vector is within the range of the set inside the range, turn on the primary neighbor light source 812. However, it is not necessary to turn on the secondary adjacent light source 814. Furthermore, the control system is actually If the magnitude of the deviation vector is outside the inner nesting range but within the outer nesting range, The secondary adjacent light source 814 and the primary adjacent light source 812 may be turned on. The secondary adjacent light source 814 It may include any number of light sources other than the root light source 810 and the primary adjacent light source 812. This should be understood. For example, the secondary adjacent light source 814 is a pitch in the surrounding array 805. This can include the entire remainder of the tyrofoam light source 804. In other words, the root light source 810 When the primary adjacent light source 812 and the secondary adjacent light source 814 are all illuminated, the surrounding array 80 It should be understood that all light sources in 5 may be illuminated. Furthermore, the control system The M is configured to identify yet another group of adjacent light sources ("tertiary adjacent light sources" 816). The control system can do so in a similar manner, namely a third nested range or a fourth The intention is to control the third-order adjacent light source 816 using nested ranges. The next adjacent light source and the second adjacent light source may each independently contain any number of light sources, but In terms of type, the number of light sources is symmetrical in the counterclockwise and clockwise directions relative to the root light source 810. It is also intended that it may be included.

[0158] Referring again to Figure 28, the visual indicator 800 is different from the surrounding array 805. The system may also include a translational visual indicator 802 which may be controlled in the same way. Based on the determined translational value and one or more translational thresholds or translational ranges, a translational visual indicator is generated. The state of the light source associated with TA802 may be controlled. Translation threshold or parallel, including nested translation ranges. The progression range may be a fixed interval or a portion of the size of the translational range of motion. Determined translational value This is the position of the handheld part in the translational degrees of freedom, which may be determined based on the commanded posture. The translational vision indicator 802 may include multiple light sources. Each of the light sources is translational vision It may correspond to one or more segments 803a, 803b of the sensor indicator. The translational visual indicator 802 then displays the first segment, the second segment, and an optional selection. It may optionally include additional segments, each of which contains one or more light sources. The control system consists of a first segment 803a, a second segment 803b, and other Control the state of the light source corresponding to the segment to change the translational position of the handheld part. It may be shown in the following: In one configuration, the first segment and the second segment are It is located on both sides of the midline M of the translational visual indicator 802. In this embodiment, the control system The stem illuminates the light source corresponding to the first segment 803a or the second segment 803b. It is designed to point and indicate the desired direction of movement of the handheld part.

[0159] First segment 803a and second segment 803 of translational visual indicator 802 b may be aligned on axis 808. The axis of the translational visual indicator 802 is the tool support. It may be perpendicular to the plane defined by tool 18 or tool 20. Translational visual indicator At least a portion of the caterer 802 may be surrounded by a light source enclosure array 805. Furthermore, the axis of the translational visual indicator 802 is defined by the light source enclosure array 805. They may be perpendicular to the plane. The control system is related to those translational visual indicators. The system may be further configured to identify the root translation light source among the light sources.

[0160] However, the root translation light source is not identified using the angle of the deviation vector. The control system is identified based on translational values ​​and one or more translational thresholds. Based on the translational component of the commanded attitude and the translational threshold or nested translational range, the translation indicator is used. The state of the corresponding optical segment may be controlled. Each of the nested translation ranges is the upper translation It may include a threshold and a lower translational threshold.

[0161] Regarding Figures 29A to 29G, refer to the example spatial arrangement to determine the state of the visual indicators. Let me explain. Figure 29A shows that the handgrip is positioned relative to the tool support in all degrees of freedom. This indicates that it is being done. This is the light segment 803c of the translational visual indicator, that is By illuminating the central light segment, this is shown on the visual indicator 800. This means that the handle portion 16 is located approximately in the center of the range of motion in terms of pitch freedom (or the innermost parallel). This indicates that it is within the range of the insert. Light source 806 is also illuminated, for the reason being the handheld part 16 minutes The pitch component is within the innermost pitch nesting range, and the roll component of the handle is within the innermost roll nesting range. This is because it is within the range of the light source 804a~804h within the array 805. All light sources are illuminated, and the handheld portion has pitch and roll degrees of freedom with respect to the tool support. This indicates that it is generally aligned to the desired range of motion.

[0162] Regarding Figure 29B, the handheld portion is pitched against the tool support, and the user In order to reach the desired range of motion, it is desirable to tilt the handle forward. Since only a change in pitch is desired, the light segment 803c of the translational visual indicator is illuminated. It is revealed that only a change in pitch is desired (the actual deviation vector is approximately 0 degrees). Therefore, the root light source 804a is illuminated. Because the pitch of the handheld part exceeds the first threshold, Light segments 804b and 804h were illuminated by two of the adjacent light sources.

[0163] Regarding Figure 29C, the user tilts the handle backward in the pitch direction, and the handle It is desirable to pull the part upward. To accommodate the pulling up of the handheld part, translation is most Because it is close to the lower translation threshold, the light source 803e of the translation indicator is illuminated. To cope with the change, the root light source is 804e (actually with an angle of approximately 180 degrees). It is identified as a deviation vector. Based on the magnitude of the desired pitch change, the adjacent light source 8 04d and 804f will also be illuminated.

[0164] Regarding Figure 29D, the user can twist the handle clockwise in terms of roll degrees of freedom. This is desired, and no change in height is required. This is the light segment 8 of the translational visual indicator. By illuminating 03c, it is shown on the visual indicator 800, which is the handheld part. This indicates that 16 is approximately in the center of the range of motion in pitch degrees of freedom. Root light source 804g However, it is identified and illuminated (the actual deviation vector has a direction of approximately 270 degrees). Request Based on the degree of movement of the roll, adjacent pitch roll light sources 804h and 804f It will also be illuminated.

[0165] Regarding Figure 29E, the user twists the handle counterclockwise in terms of roll degrees of freedom. This is desirable. In order to deal with the lifting of the handheld part, the translation is close to the lowest translation threshold. Then, the translation indicator light source 803e is illuminated. The root light source 804c is identified and illuminated. (The actual deviation vector has a direction of approximately 90 degrees.) Required roll movement Based on the degree, light sources 804b and 804d are also illuminated, which is an adjacent light source or adjacent light It can be considered a segment.

[0166] Regarding Figure 29F, the user pulls the handle upwards, that is, changes the height. It is desirable that the pitch and roll degrees of freedom be changed. To address this, the translation is close to the lowest translation threshold or outside the outermost translation nesting range. Therefore, the light source 803e of the translation indicator is illuminated. The commanded attitude of the handheld part 16 The pitch and roll components are within the innermost nested range relative to the degrees of freedom of pitch and roll. Therefore, light source 806 is also illuminated. Furthermore, the handle part has freedom of pitch and roll. To demonstrate that the tool support is generally aligned to the desired range of motion in degrees All light sources in the array 805, including light sources 804a to 804h, are illuminated.

[0167] Regarding Figure 29G, the user can lower the handle, that is, change its height. This is desired, and no changes are desired in the pitch and roll degrees of freedom. To address this, since the translation is close to the upper translation threshold, segment 803a of the translation indicator This is illuminated. Because the handheld portion 16 is within the desired range of motion for pitch and roll degrees of freedom. Furthermore, the light source 806 is also illuminated. In addition, the handheld part has freedom of pitch and roll. To show that the tool support is generally aligned to the desired range of motion, light source 8 All light sources in array 805, such as 04a to 804h, are illuminated.

[0168] Regarding Figures 30A to 30E, the translational visual indicator 802 will be explained further. The visual indicator 802 can include multiple light segments 803a to 803e. Each light segment may be associated with one or more light sources. (There may be multiple translational thresholds.) The value may include the translation threshold range. The translation threshold range is the tool support for the handheld portion. It may also be based on the Cartesian model that represents the three-dimensional workspace of the object. For example, the arrangement of the handle parts If the base value is 5 and the translation range is -10 to +10, the control system will perform the translation input. The second segment (803b) of the five segments shown as part of the dicater is particularly Determine (see Figure 30B). If the translation value is 10, the translation visual indicator 802 will show The uppermost light source (803a) may be illuminated (see Figure 30A). Light segment 803a One or more of the ~803e are configured to emit a different color from the other light segments. This is also fine. For example, the uppermost light segment (803a) and the lowermost light segment 803(e) are They may be configured to emit the same color, while the central light segment 803c is the uppermost light segment The light segment and the bottom light segment may be configured to emit a different color. Furthermore, the intermediate light The segments (803b and 803d) may be configured to emit light of a third color. By emitting light of different colors depending on the translation value, the user can perceive the limitations of the range of motion in translation. This allows us to understand how close it is. Figure 30A shows the height value as the limiting factor of the range of motion relative to the height. This indicates that it is close to the top. Figure 30B shows that the height value is near the top of the range of motion threshold (illumination of 803a). The point between the point that causes illumination (which is the point that causes illumination at 803c) and the central threshold of the range of motion. This is shown in Figure 30C, where 803c is illuminated, which is the height value of the center threshold of the range of motion. This indicates that it is within the range. Figure 30D is the inverse of Figure 30B (segment 803d is illuminated). Figure 30E is the inverse of Figure 30A, and 803e is illuminated.

[0169] Figure 31 is another diagram of the visual indicator 900. The central column 902 is the translational view described above. It functions like the sensor indicator 802 and is controlled as described above with respect to Figures 30A to 30E. It may include multiple segments. The visual indicator 900 includes multiple light sources. However, it may further include array 905, which is described above with respect to array 805. It may function as described above, and may include multiple light sources similar to array 805.

[0170] The important thing is that, based on the visual indicators mentioned above, the handheld robot system The operator visually determines whether the blade support 18 has a desired range of motion relative to the handle portion 16. It is something that can be understood precisely. In particular, when in the home position, actuate The amount of adjustability of elements 21, 22, and 23 is the most suitable for maintaining tool 20 in the desired position. It can be enlarged. Depending on the specific geometric shape and configuration of the device 14, various levels of adjustment are possible. It is possible. In some examples, all actuators 21, 22, and 23 are connected to their respective housings. When in the M position, tool 20 has zero change in the direction of the roll and the z axis. Assuming there is no translation, adjust the pitch direction to approximately ±18 degrees relative to the home position. That's fine too. In some examples, all actuators 21, 22, and 23 are located in their homes When in position, tool 20 has zero change in pitch direction and is parallel to the z axis. Assuming there is no movement, even if you adjust the roll direction to approximately ±33 degrees relative to the home position Good. In some examples, all actuators 21, 22, and 23 are home port When in position, tool 20 has zero change in pitch direction and roll direction. Assuming this, the range of motion is approximately ±0.37 inches (9.398 millimeters) relative to the home position. The z-axis translation may also be adjusted. For tool 20, pitch, roll and z-axis translation during operation. The progress may be adjusted simultaneously, sequentially, or in combination thereof.

[0171] Figures 32A to 32C show the indicators for the pitch and roll of the handheld portion, or the height of the handheld portion. This is a diagram of a display screen that provides users with intuitive information about [the subject]. The metrics provided are: This may also indicate the plane of the handle portion relative to the previously introduced desired cross-section. This may include a circle or other marking representing the desired cross-section. This circle may be static. Good. The indicator may further include a movable "X" or other type of marking relative to the circle. Good. Where the flat surface of the handle deviates from the desired cutting plane in pitch, roll, or both. Alternatively, X may be displayed outside the circle. For example, a pitch deviation may be indicated by X being above or below the circle. This may include being displayed, and a deviation of the role may be that X is displayed to the right or left of the circle. It may include the above. According to the above rules, Figure 32B shows that the plane of the handle is the desired cross-section. It is angled upwards relative to the desired cutting surface, indicating that it is rolling to the left of the desired cutting plane. Figure 32C shows that the deviation is smaller than in Figure 32B. The index is relative to the desired cross-section. The z-axis position of the handle portion may be incorporated. In certain embodiments, the thickness of the circle is the desired flat It may also be changed based on the z-axis position of the handle relative to the surface. For example, as shown in Figure 32B. As the handle is moved upward or downward, the thickness of the circle increases. When the handle reaches a certain position relative to the cut surface, the thickness increases to a predetermined maximum value. It can be enlarged or completely filled. The display is a visual work zone with superimposed indicators. You may provide it.

[0172] Figure 33A shows indicators displayed on an array of LED lights, for example, a 5x5 array. The array appears to be integrated into the device, but alternatively, it can be displayed using a previously introduced display. (i) May be displayed above. Selective illumination of LED light is controlled by the pitch, roll and z of the handheld portion. When the axis position is accurate or in the desired position, the LE is located at a single center of the array. It is acceptable for the light to be illuminated by D light. Otherwise, the illuminated LED light will be An intuitive feeling that one or more of the postures of the handheld part are inaccurate. The report provides information. Deviations in the pitch and roll of the handheld portion are due to the complete illumination of the LED light. This may also be indicated by the fact that it is less than a square. Furthermore, the pitch and roll of the handle portion The deviation is also indicated by the fact that the illuminated LED light is not positioned in the center of the array. Good. According to the above rules, Figure 33A(1) shows that the handle portion is one of the pitch and roll. This indicates a deviation in one direction or the other. In other words, the LED is not perfectly square. The parts that are not illuminated are illuminated, but the completeness (if the pitch or roll is accurate) is The squares are centered on the array. Furthermore, the absence of a bottom right corner in the squares means that the pins are not centered. To correct the choke, roll, or both, you generally need to adjust the handle in the lower right direction. To show the user that it is necessary. Figures 33A(2) and 33A(3) show the handle part. This indicates deviations in both the ch and r. The illuminated LED is not fully positive. Not only are they not square, but the illuminated LEDs, which should be perfectly square, are at the center of the array. They are not aligned. In Figure 33A(4), the pitch and roll of the handheld part are accurate, but The handle portion 16 is deviated in the z-axis or height. The instrument 14 moves upward or downward. As the handle approaches the desired plane, it progresses in stages as shown in Figures 33A(4) to (6). The size of the square becomes smaller. Figure 33A(6) shows a single centered L of the array. ED light is used for illumination, and as mentioned above, the pitch, roll, and z-axis position of the handheld part are It indicates that it is accurate.

[0173] Figure 33B shows a similar arrangement with gradually illuminated circles, in contrast to the square array. Use. Deviations in the pitch and roll of the handheld portion are indicated by the portion that is not a perfect circle. This can also be shown by the fact that the lower left arc of the circle is missing. Figure 33B(1) shows pitch, low To correct either or both, the handle portion needs to be generally adjusted downwards to the left. Shown to the user. The z-axis, i.e., height, is represented by dots or other marks along the vertical lines that divide the circle. It may also be indicated by the position of the ring. Therefore, Figure 33B(2) shows the circle illuminated. Therefore, although the pitch and roll of the handheld part are accurate, the dots are not centered on the vertical line. This indicates a deviation along the z-axis. The handle is moving upward or downward. When this happens, the dot moves towards the center of the circle. Figure 33B(3) shows the circle illuminated, and the dot This indicates that the pin is centered along the vertical line within the circle, which means the handle part is centered. This indicates that the ch, roll, and z-axis positions are accurate.

[0174] Referring to Figure 34, the visual indicator is the first visual indicator 1000, The second visual indicator 1000', the third visual indicator 1000'', and the fourth Visual indicator 1000''' may be included. In the illustrated version, the visual indicator Each of the caterers 1000, 1000', 1000'', and 1000''' is a control system Includes one or more illuminating sources coupled to the unit. In some versions, the illuminating sources are different Includes one or more LEDs that can illuminate with intensity / color. Visual indicator shown in Figure 34. Ta1000, 1000', 1000'', 1000''' may also have a columnar structure. , extending upward from the upper surface of the tool support 18. Visual indicator 1000, 100 0', 1000'', 1000'''' are arranged in a rectangular or square configuration as shown in the diagram. It may be provided in other suitable arrangements. Visual indicators 1000, 1000', 1000' ', 1000''' color, more details visual indicator 1000, 1000', 100 The color difference between 0'' and 1000'''' is due to the pitch of the handle portion relative to the desired plane and the r You may also indicate a line. For example, visual indicators 1000, 1000', 1000'', Of the 1000'', at least the two distal ones are primarily yellow, and visual indicator 1 Of 000, 1000', 1000'', and 1000'', at least two of the proximal ones are primary The red color may indicate a deviation in pitch relative to the desired cross-section. Similarly, visual The two leftmost indicators out of 1000, 1000', 1000'', and 1000'''' The visual indicators are at least primarily yellow, 1000, 1000', 1000'', The fact that at least two of the 1000'' on the right are primarily red indicates that the cross-section is It may indicate deviations from the rule. In other words, visual indicators 1000, 1000', 1 Making all the colors of 000'' and 1000''' the same is difficult for the desired cut surface. It may also be indicated that the orientation of the handle is correct. Visual indicator 1000, 1000 Illuminate less than four of the following: ', 1000'', 1000'''', pitch, roll, or both. It is intended that deviations in the following may be shown. Visual indicators 1000, 1000' The colors of 1000'' and 1000'' (not necessarily color differences) are applied to the desired cut surface. The corresponding z-axis position may also be indicated. For example, visual indicators 1000, 1000', 10 The fact that 00'' and 1000''' are red or yellow indicates the z-axis position relative to the desired cross-section. It may also show deviations from visual indicators 1000, 1000', 1000'', 100 The fact that 0''' is green may indicate that the handle is in the desired position. Then, the visual indicators 1000, 1000', 1000'', and 1000''' each The fact that they are the same color, namely green, indicates that the handle portion is in pitch, roll, and z-axis position. It may also indicate that it is accurate.

[0175] Figures 35A, 35B, and 35C show the centered dots in the precise z-axis position. The display screen shows a vertical line indicating the position. The indicators in Figures 35A and 35B are vertical at the center point. It includes horizontal lines intersecting the line and arc-shaped lines intersecting the center point. The indicator is relative to the desired cross-section. It may further include additional dots or markings indicating the pitch and roll positions. More specifically, the horizontal position of the dots on the horizontal line may represent the pitch relative to the desired cutting plane. The position of the dots on the arcuate line may represent the roll relative to the desired cutting surface. The use, in particular, when considering movements that result in roll, i.e., deviations of rotation around the x-axis, It may be intuitive. In conclusion, the dots converge at the intersection. Figure 35A shows the handle portion at the pitch, roll, and z-axis positions. This indicates a misalignment. The dot on the arc is further from the intersection than the dot on the horizontal line. Therefore, roll deviation is greater than pitch deviation. Figure 35B shows the pitch and roll of the handheld portion. The markings are accurate, but the handle is deviating in the z-axis position. Figure 35C Because the indicator appears as a single dot at the intersection, the handheld part is pitch, roll This indicates accuracy in the z-axis position.

[0176] Figures 36A to 36C show how to use crosshairs to determine an arbitrary deviation pitch relative to the desired cross-section. Represents roll and z-axis position. The horizontal line of the crosshairs may represent pitch, and the vertical line of the crosshairs may represent It may also represent a roll. The intersection of the horizontal and vertical lines is the origin, for example, in Figures 36A to 36C. This may represent the z-axis position relative to the center of the dashed box shown. Of the horizontal and vertical lines... A gradual thickening of one or both may indicate a deviation in pitch. Therefore, see Figure 3. In 6A, the vertical lines of the crosshairs are drawn using perspective, and the crosshairs are rotated, so the part you hold is... This indicates deviation in the ch and roll. Figure 36B shows the crosshairs inside the box. Because they are not aligned, this further indicates that the handle portion is deviating in the z-axis position. Figure 36B shows that the handle is accurate in pitch and roll, but deviates in the z-axis position. This indicates that it has been removed. Figure 36C shows the handheld portion in pitch, roll and z-axis position. This indicates accuracy. Figure 36C shows that the handheld part has all controlled degrees of freedom. This also shows that the box is deformed when it is in the desired position.

[0177] Referring to Figure 37, the visual indicator 1100 is the first visual indicator 1102 It may also include a second visual indicator 1104 and a third visual indicator 1106. The visual indicators 1102, 1104, and 1106 of the illustrated embodiment are tool supports. These are spherical LEDs coupled together and arranged linearly in the front-to-back direction. (Visual indicator) 1100 includes a fourth visual indicator 1108 and a fifth visual indicator 1110. That's fine too. The visual indicators 1108 and 1110 of the illustrated embodiment are tool supports. A spherical LED coupled to the first indicator 1102, the second indicator It is relatively smaller than Cata 1104 and the third visual indicator 1106. Catalog numbers 1102, 1104, 1106, 1108, and 1110 are, for example, white, blue, and gray. The indicators may be configured to illuminate with a single color, such as black. Visual indicators 1102, 11 04 and 1106 indicate the pitch and z-axis position of the handheld portion relative to the desired cutting surface. Instructions may be given, but use a combination of visual indicators 1102, 1104, and 1106. Other methods are being considered. Fourth visual indicator 1108 and fifth visual indicator 1 110 instructs to indicate the roll of the handheld portion relative to the desired cutting surface, and therefore, First visual indicator 1102, second visual indicator 1104 and third visual indicator The first visual indicator may be positioned on the opposite side of the row of the dicator 1106. Data 1102, second visual indicator 1104 and third visual indicator 1106 The illumination of the fourth visual indicator 1108, positioned on the left side, in a certain color is counterclockwise. The rotation of the instrument may be shown, and the first visual indicator 1102, the second visual indicator A fifth visual indicator positioned to the right of the third visual indicator 1106 and the third visual indicator 1104 The illumination of the indicator 1110 in a certain color may indicate a clockwise roll. The first visual indicator 1102, the second visual indicator 1104 and the third visual indicator Regarding the 1106, illuminating one or more lights in a certain color is possible depending on the pitch, height, or both. It may also indicate a deviation in the direction. In one example, the foremost visual indicator 1102 is blue. The second visual indicator 1104 and the third visual indicator 1106 become black. This results in the user being able to manipulate the handheld part until a single focus is provided to them. You may do so.

[0178] Referring to Figure 38, the visual indicator 1200 may also be in a mechanical form. In particular, the visual indicator 1200 is the handle portion 16 of the instrument 14 and the tool of the instrument 14. Alignment mechanisms located on each of the support 18 are used. The guide array 1200 is a tool Regarding how the support 18 is positioned relative to the handheld portion 16, it is intuitive and familiar The device 14 and tool 20 are on the ground. In the case of a sagittal saw, where the saw blades are oriented parallel to each other, the tool 14 is at the nominal position or " When in the "home" position, the mechanism in the handgrip portion 16, described later, of the tool 20 It may be on the same plane as the object. The leveler 1210 is attached to the handle part 16. The leveler 1210 consists of two plates 1212 separated by a recess 1214 or void. It may include. The plates 1212 are arranged on the same plane as each other. Leveler 12 10 is when tool 20 is in the home position and tool 20 is flat on plate 1212. It is joined to the handheld part 16 as a row. In one example, tool 20 plays It may be on the same plane as T 1212. Pitch and roll deviations are due to leveler 1210. Based on the relative orientation of tool 20 to plate 1212, it can be easily verified visually. It is possible.

[0179] Figure 39 shows the visual indicator 13, to which the leveler 1310 is attached to the handheld portion 16. Another embodiment of 00 is shown. The leveler 1310 is adjacent to the sight 13 tool support 18. Includes an arm 1312 attached to a handheld portion 16, which extends to 14. Sight 13 14 may be an opening with crosshairs arranged around it. A beacon is placed on the tool support 18. Combine 1316 and align with the sight 1314 when tool 20 is in the home position. They may be positioned so as to be positioned on the crosshairs of the sight 1314. It may include crosshairs configured for alignment. During the operation of the instrument 14, tool 20 And when the tool support 18 moves relative to the handgrip portion 16, the beacon 1316 is aimed at the sight. It is understood that the instrument 14 moves relative to 1314. The instrument 14 moves the desired cutting surface as described above. While maintaining this state, the user should align beacon 1316 with target 1314. The handle portion 16 can be operated.

[0180] Figure 40 shows another schematic diagram of the device 14 having another embodiment of the visual indicator 1400. The visual indicator 1400 is shown. The visual indicator 1400 is at least one arm attached to the handheld portion 16. Includes M1402. The illustrated embodiment is optionally arranged equiangled in a star pattern. It includes multiple arms 1402. The visual indicator 1400 is coupled to the tool support 18. The illustrated embodiment includes at least one fork 1408, and the arm 1402 At the ends of other arms 1404, which are positioned at equal angles to the star pattern and complementary star patterns, Includes five forks 1408. At the end of each arm 1402, a tool 20 is in the home position. A geometric design configured to be positioned between the tines of fork 1408 when in position. Structure 1460, for example, is a sphere. More specifically, geometric structure 1406 is a tool When 20 is in the home position, it is on the same plane as the opposing tine of fork 1408. They may be located at the same distance from it. In this case as well, tool 20 and tool 20 The support 18 moves relative to the handle portion 16 during the operation of the instrument 14. Geometry The target structure 1406 moves relative to the fork 1408. The alignment will no longer be correct. It is visually easy for the user to understand, and the user can easily understand the fork 1408 and geometric The handle portion 16 may be manipulated to realign the structure 1406.

[0181] Referring to Figure 41, the window 1502 is located within the handle portion 16 adjacent to the tool support 18. Another schematic diagram of the device 14, which has a visual indicator 1500 placed on it, is shown. Physically, the proximal end of the tool support 18 can be seen through the window 1502. The proximal end 230 of part 16 and tool support 18 is when the tool 20 is in the home position. It may include complementary markings configured to be aligned at times. Tool support The marking on the proximal end of the body 18 may be a horizontal line, and the marking on the handle portion 16 is It may also be an opposing projection adjacent to window 1502. Tool 20 is in the home position In a certain state, the horizontal line and the projection opposite it are on the same plane. Tool 20 and tool support If the body 18 moves relative to the handheld part 16, the complementary markings will be in position They will no longer be able to match.

[0182] Referring to Figure 42A, another exemplary visual indicator 1600 is shown on the display screen. This includes the same translation index 1602 as described above, as well as the pitch and roll index. Visualized differently for 1604. The circle and crosshairs represent the pitch value, Based on the roll value or both, and the angle of the actual deviation vector, even when moving relative to each other. Good. Similarly, based on the magnitude, direction, or both of the actual deviation vector or range of motion vector. The intention is that the position of the circle or crosshairs may be controlled.

[0183] Referring to Figure 42B, the visual indicator 1700 is a visual indicator that intersects with each other. It may include three linear arrangements of 1702, 1704, and 1706. The color of each segment, or more specifically, the color difference between the visual indicators, relative to the desired cutting surface. The pitch and roll of tool 20 may also be shown. As described above with respect to Figures 29 and 30. The formula may control multiple light sources. The visual indicator 1700 is attached to the tool support. That's fine.

[0184] Referring to Figure 42C, another exemplary visual indicator 1800 is shown: a cross. The position of the line may vary based on the pitch, roll, or both of the handheld portion. Figure 24. The position of the crosshairs is controlled in the same manner as the pitch roll indicator described above, with respect to Figures 26 and 27. You may do so.

[0185] The device controller 28 controls input devices (e.g., foot switches, triggers, mouse switches). Input signals such as the operation of a click or touch on the navigation UI38. Based on this, you may switch to enabling the visual indicator. Alternatively, the device can The controller 28 uses the position of tool 20 and patient trackers 54, 56, etc., in a known coordinate system. Even if configured to enable the visual indicator based on the reference location of the knee bone Good. The reference location is used to position the instrument 14 relative to the target object or target state. It may be a point, surface, or volume in a coordinate system. In one particular embodiment, the reference field The location is the planned entry point into the bone. For example, the reference location is the surface of the bone, a point within the bone, a known location. This may be an imaginary or virtual point in a coordinate system, a volume in a coordinate system, or a combination thereof. The location or orientation of the reference site is determined through registration and suitable planning steps for the patient. The lacquer is known. The instrument controller 28 controls the distance between the tool and the reference location, etc. Based on the distance parameter calculated between the two objects, the mode is switched or different. It may behave as it is. The distance parameter is the distance (for example, how far apart two objects are). It may be (how far away), size (the direction of distance to a single object), or both. In some cases, the instrument controller 28 controls the distance parameter in the direction away from the bone and the second The mode may be switched when the magnitude is greater than the threshold of 1.

[0186] In this application, which includes the following definitions, the term "controller" is used in conjunction with the term "circuit". It can be replaced. The term "controller" is an application-specific integrated circuit (AS). ICs), digital, analog, or mixed analog / digital discrete circuits, digital Analog, or mixed analog / digital integrated circuits, combinational logic circuits, field Programmable gate array (FPGA), processor circuit that executes code (shared, dedicated) (For use, or group), memory circuit that stores code executed by processor circuitry ( Other suitable hardware configurations (shared, dedicated, or grouped) that provide the described functionality are required. This refers to a combination of some or all of the above in a component or system-on-a-chip, etc. It may be a part of it, or may include it.

[0187] A controller / control system (which may consist of multiple) has one or more interface circuits. It may include. In some examples, the interface circuit (which may be multiple) is local Connecting to an area network (LAN) or wireless personal area network (WPAN) A wired or wireless interface may be implemented. An example of a LAN is provided by the Japan Electrical and Electronics Engineers Association. IEEE standard 802.11-2016 (as a Wi-Fi wireless networking standard) (This is also known) and IEEE standard 802.3-2015 (ETHERNET wired network (It is also known as a working standard.) An example of WPAN is Bluetooth Special Interest. st Group's Bluetooth wireless networking standard and IEEE standard 802.15 It is 0.4.

[0188] The controller uses interface circuits (which may be multiple) to connect to other controllers. It can communicate with other controllers. A controller communicates logically and directly with other controllers. Although it may be described herein as such, in various configurations, the controller is actually They may communicate via a communication system. The communication system includes hubs, switches, routers, and This includes physical and / or virtual networking equipment such as gateways. In this context, the communication system is connected to a wide area network (WAN) such as the Internet. To continue or to traverse. For example, a communication system is a multiprotocol label system. Using technologies including MPLS and Virtual Private Network (VPN) and multiple devices connected to each other via the internet or point-to-point dedicated lines. This may include LANs.

[0189] In various configurations, the controller's function is connected via a communication system to multiple The load may be distributed across controllers. For example, multiple controllers may be used in a load balancing system. Therefore, the same functionality can be implemented in a distributed manner. In a further example, the functionality of the controller is A server (also known as remote or cloud) controller and a client (or user) It can be split between the (the) controller and the (the) controller.

[0190] Some or all of the controller's hardware functions are based on a language for hardware description. For example, IEEE standard 1364-2005 (generally referred to as "Verilog") and I Defined using standards such as EEE standard 10182-2008 (generally referred to as "VHDL"). Hardware description languages ​​can be used to manufacture and / or program hardware circuits. It can be used to do so. In some configurations, some or all of the controller's special The characteristic encompasses both the code and hardware description described below in IEEE1666- It can be defined by languages ​​such as 2005 (generally referred to as "SystemC").

[0191] Various controller programs may be stored in a memory circuit. This term is a subset of the term computer-readable media. As used herein, the term "medium" refers to a medium through which something propagates (such as on a carrier wave). It does not include temporary electrical or electromagnetic signals. Therefore, it is not a computer-readable medium. The term can be considered tangible and non-temporary. Non-temporary computer-readable media non-limited Examples include non-volatile memory circuits (flash memory circuits, erasable programmable read-only). Memory circuits for use, or memory circuits dedicated to mask reading, etc., volatile memory circuits (static (e.g., random access memory circuit or dynamic random access memory circuit), magnetic Storage media (analog or digital magnetic tape or hard disk drive, etc.), It is an optical storage medium (such as a CD, DVD, or Blu-ray disc).

[0192] The apparatus and methods described in this application are one or more embodied by a computer program. Dedicated by configuring a general-purpose computer to perform specific functions. It can be partially or completely implemented by a computer. The functional blocks and functions described above Low chart elements function as software specifications and are used by skilled engineers or programmers. It can be converted into a computer program through a process called "Chin".

[0193] A computer program is stored in at least one non-temporary computer-readable medium. Includes processor-executable instructions. Computer programs also store data. It may include or depend on the hardware of a dedicated computer. Basic Input / Output System (BIOS) that interacts with hardware, identification of dedicated computers A device driver that interacts with the device, one or more operating systems User applications, background services, background applications It can include things like [specific examples / concepts].

[0194] As a computer program, (i) HTML (Hypertext Markup Language) ), XML (Extensible Markup Language), or JSON (JavaScript Object Notation) (ii) descriptive text to be parsed, such as (ii) assembly code, (iii) by the compiler (iv) Object code generated from source code, and execution by an interpreter. (v) Source code for (v) compilation and execution by a just-in-time compiler Source code for this purpose could be cited. As a simple example, source code could be in C, C++ , C#, Objective C, Swift, Haskell, Go, SQL, R, L isp, Java(TM), Fortran, Perl, Pascal, Curl, OC aml, JavaScript (trademark), HTML5 (Hypertext Markup) 5th revision), Ada, ASP (Active Server Pages), PHP (Hyp ertext Preprocessor), Scala, Eiffel, Smalltalk, Erlan g, Ruby, Flash (trademark), Visual Basic (trademark), Lua, MA Uses syntax from languages ​​including TLAB, SENSORLINK, and Python (trademark). It can be written using this method.

[0195] Item I. Visual indicators for handheld robot systems used with saw blades. A method for controlling ICIA, in which the robot system includes a localizer and a user-held A handle includes a handle portion and a blade support that is movably connected to the handle portion and supports the saw blade. The device includes a type of instrument, a blade support, and a handle, which are interconnected in an operational manner, and includes multiple actuators. The axial assemblies include a blade support and a saw drive motor, and known The steps include determining the position or orientation of the handheld part in the first degree of freedom in the coordinate system, and Based on the position or orientation of the handgrip in the first degree of freedom, the blade support in the second degree of freedom The steps involve determining the range of motion of the body and the second degree of freedom of the hand in a known coordinate system. A step of determining the position and / or orientation (position or orientation or both) of the part Based on the position and / or orientation and range of motion of the handheld part in the second degree of freedom, visual indicators Controlling the visual indicators of a handheld robot system, comprising the steps of controlling the method.

[0196] Item II. A handheld robotic system used with a tool, which the user holds A handle portion and a tool drive motor connected to the handle portion that drives the movement of the tool. A tool support equipped with a motor, and the tool support and the handgrip portion are electrically interconnected, The tool support moves the handle with multiple degrees of freedom to align the tool. It comprises an actuator assembly including multiple actuators for moving the body. The device, a visual indicator to guide the user, and control coupled to multiple actuators. A system in which the first and second degrees of freedom are held in a known coordinate system. Determine the position and / or orientation of the part, and the handheld part in the first and second degrees of freedom. The position and / or orientation of the handgrip portion in the first and second degrees of freedom. A control system configured to control a visual indicator based on the range of motion of the support structure. A handheld robotic system equipped with a stem.

[0197] Item III. Controlling the visual indicators of a handheld robotic system used with a saw blade. A method comprising a robotic system, a localizer, and a handheld portion held by the user and A handheld device including a blade support that is movably coupled to the handle and supports the saw blade, and a blade The support and the handheld portion are operably interconnected, and the actuator includes multiple actuators. The method includes a saw assembly and a blade support, the saw drive motor, and the method is in a known coordinate system. A step to determine the first posture of the handheld part, and based on the first posture, in the first degree of freedom The first step is to determine the range of motion, and the second position of the handheld part in a known coordinate system. The decision-making step and the determination of the second range of motion in the first degree of freedom based on the second posture. It is a step, and unlike the first range of motion and the second range of motion, the first posture and the second posture These are different steps and the first position of the handheld part based on the first posture in the first degree of freedom. Determine the position and / or orientation, and visually determine the position and / or orientation and the first range of motion. A step to control the indicator, and the second position of the handheld part based on the second attitude in the first degree of freedom. Determine the position and / or orientation of the second position and / or orientation and the second range of motion. A visual indicator for a handheld robot system, comprising the steps of controlling the sensory indicators. How to control it.

[0198] Item IV. A handheld robotic system used in conjunction with surgical tools, wherein the user The holding part and the tool drive connected to the holding part that drives the movement of the tool A tool support equipped with a motor, and the tool support and the handgrip are operatively interconnected. , to move the tool support so that the tool can be moved with multiple degrees of freedom relative to the handheld part A device comprising an actuator assembly including multiple actuators, and a handheld part A visual indicator that guides the user to the location where it should be placed, and multiple actuators and visual A control system coupled to a sensor indicator, wherein the first degree of freedom in a known coordinate system Determine the position and / or orientation of the tool support and / or handgrip portion in the first free Based on the position and / or orientation of the tool support and / or handgrip portion at the degree, the second self Determine the range of motion of the tool support in the degree of freedom, and in the second degree of freedom in the known coordinate system Determine the position and / or orientation of the tool support and / or handgrip, and in the second degree of freedom Based on the position and / or orientation and range of motion of the handle and / or tool support, visual information A handheld robot comprising a control system configured to control the indicator. T system.

[0199] Item V. A handheld robotic system used in conjunction with surgical tools, which the user can use to maintain The handle portion and the tool drive, which is connected to the handle portion and drives the movement of the tool. A tool support equipped with a motor, and the tool support and the handgrip are operatively interconnected, To move the tool support so that the tool can be moved with multiple degrees of freedom relative to the handheld part, An apparatus comprising an actuator assembly including multiple actuators, and a handheld part A visual indicator that guides the user to the place where it should be placed, and multiple actuators and visual A control system coupled to an indicator, wherein the tool support is in a known coordinate system Determine the first posture, and based on the first posture, determine the first range of motion in the first degree of freedom. Determine the second orientation of the tool support in a known coordinate system, and based on the second orientation, determine the first orientation. Determine the second range of motion in the freedom, and unlike the first and second ranges of motion, the first form Unlike the first and second postures, the second of the tool support is based on the first posture in the first degree of freedom. Determine the position and / or orientation of 1, and based on the first position and / or orientation and the first range of motion Controlling the visual indicator and the second pose of the tool support based on the first degree of freedom Determine the position and / or orientation of 2, and based on the second position and / or orientation and the second range of motion A handheld device comprising a control system configured to control a visual indicator. Robot system.

[0200] Throughout this specification, along with certain degrees of freedom, certain indicators, such as pitch roll index, are used. This section describes the indicators. Throughout, all the indicators described refer to yaw, x-axis translation, or y It can be used to indicate the position and / or orientation in other degrees of freedom, such as axial translation, in a similar manner. It should be understood that this is possible. The actuator assembly to be used and the handheld Depending on the degrees of freedom available to the movement of the tool relative to the part, the position of these other degrees of freedom It may be useful to convey the direction or orientation.

[0201] Furthermore, any of the control systems claimed in this specification may have one or more of the features described below. It may have. The control system controls the orientation of the saw blade and the handle in a known coordinate system. Determine the posture, the target posture of the saw blade, and the boundary, and based on the posture of the hand part and the target posture of the saw blade Multiple actuators are used to align the saw blade in multiple controlled degrees of freedom. It may be further configured to control the following. The target attitude is defined with at least 3 degrees of freedom. The target plane may also be a boundary mesh, which controls the saw drive motor. This includes controlling the motor parameters of the saw drive motor with a first value and a second value. Furthermore, the first value differs from the second value, and the controller is based on the boundary mesh and It is operable to change its behavior from a first value to a second value based on the position of the saw blade. The data parameters are selected from a group that includes speed, torque, current, acceleration, or a combination thereof. The control system determines distance parameters relating to a portion and boundary of the saw blade, and the saw blade Controlling a motor is based on its distance parameter. The control system uses multiple actuators. Determine the position of each actuator in the inverter, and determine the posture of the saw blade and multiple actuators. Even if you configure it to determine the orientation of the handheld part based on the position of each part of the tutor Good. The control system determines the attitude of the tracker coupled to the blade support in a known coordinate system. The position of the saw blade is determined based on the position of the tracker coupled to the blade support in a known coordinate system. The control system may also be configured to determine the handheld part in a known coordinate system. The attitude of the tracker attached to the handheld part is determined in a known coordinate system. The handheld portion may be configured to determine its orientation based on the tracker's orientation.

Claims

1. The user holds the handheld portion and is connected to the handheld portion, which controls the movement of the surgical tool. A tool support equipped with a tool drive motor, and the tool support and the handgrip portion By electrically interconnecting the two, the surgical tool can be moved with multiple degrees of freedom relative to the handheld portion. Actuators including multiple actuators for moving the tool support in a manner that is shaky An appliance equipped with a ta-assembly, A visual indicator that guides the user to the location where the handheld portion should be placed, A control system coupled with the plurality of actuators and the visual indicator. The position, orientation, or other characteristics of the handheld portion in the first degree of freedom in a known coordinate system. Determine the combination, and based on the position or orientation of the handheld portion in the first degree of freedom Next, determine the range of motion of the tool support in the second degree of freedom, and in the known coordinate system... The position or orientation of the handheld portion in the second degree of freedom is determined, and the second degree of freedom Based on the position or orientation of the handheld portion and the range of motion, the visual indicator A control system configured to control the A handheld robotic system used in conjunction with surgical tools equipped with [specific features / equipment].

2. The control system is based on the position or orientation of the handheld portion in the first degree of freedom. Next, determine the range of motion of the tool support in the third degree of freedom, and in the known coordinate system... Then the position or orientation of the handheld portion in the third degree of freedom is determined, and the second degree of freedom Based on the position or orientation of the handheld portion and the range of motion, and the third Based on the position or orientation of the handheld portion and the range of motion in the degrees of freedom, the visual A handheld robot according to claim 1, further configured to control an indicator. system.

3. The control system is based on the position of the handheld portion in the first degree of freedom. Both represent a Cartesian model of the three-dimensional workspace of the tool support relative to the handheld portion. Based on the rule, the range of motion of the tool support in the second degree of freedom is determined. The handheld robot system according to claim 2 is further configured.

4. The model is defined by a plurality of roll values ​​and pitch values, according to claim 3. The handheld robotic system described.

5. The model representing the three-dimensional workspace of the tool support is derived from empirical data. A handheld robot system according to claim 3 or 4.

6. The control system determines the orientation of the handheld portion in the known coordinate system. The control system is configured such that, based on the orientation of the handheld portion, the first self The position of the handheld portion in the degree of freedom and the position of the handheld portion in the second degree of freedom A device configured to calculate the aforementioned position or orientation, as described in any one of claims 1 to 5. A handheld robotic system.

7. The aforementioned orientation of the handheld portion is the commanded orientation, the simulated commanded orientation, the measured orientation, and The handheld robot according to claim 6, which is the previous command position, the previous measurement position, or a combination thereof. Bot system.

8. The aforementioned position of the handheld portion is the commanded position, the surgical tool is a saw blade, and the tool The support is defined as a blade support, the saw blade is coupled to the blade support, and the handle part The command position of the minutes is the relationship between the saw blade and the hand part, as described in claim 7. Chi-type robot system.

9. The control system determines the orientation of the handheld portion in the second degree of freedom, and the Based on the orientation of the handheld portion in the 3 degrees of freedom, the actual deviation in the polar coordinate system Further configured to determine a vector, the actual deviation vector having magnitude and direction The control system determines the magnitude of the actual deviation vector and the actual deviation vector The visual indicator is configured to control the direction of the 'L' or a combination thereof. A handheld robot system according to any one of claims 3 to 5.

10. The aforementioned Cartesian model includes multiple two-dimensional regions, and each of these two-dimensional regions is itself The origin of the body is surrounded, and the actual deviation vector is at least one of the multiple two-dimensional regions. From the aforementioned origin, the orientation of the handheld portion in the second degree of freedom and the third The direction of the handheld portion in the degrees of freedom, up to the point defined in the polar coordinate system The handheld robot system according to claim 9, which extends.

11. Each of the aforementioned two-dimensional regions is defined by a plurality of roll values ​​and a plurality of pitch values. The handheld robot system according to claim 10.

12. The control system, based on the position of the handheld portion in the first degree of freedom, The system is further configured to determine the range of motion vector in the aforementioned polar coordinate system. The radius has size, and the range of motion vector is at least one of the plurality of two-dimensional regions. The control system extends from the origin to the boundary point of the two-dimensional region, and the actual deviation The magnitude of the difference vector, the magnitude of the range of motion vector, and the actual deviation vector The visual indicator is configured to be controlled based on the aforementioned directions or a combination thereof. The handheld robot system according to claim 11.

13. The direction of the actual deviation vector and the direction of the range of motion vector are equal to each other. The origin of the actual deviation vector is the same as the origin of the range of motion vector. The handheld robot system according to claim 12.

14. The control system determines the magnitude of the actual deviation vector and the range of motion vector. Claim 1, configured to control the visual indicator based on the size. The handheld robot system described in 2.

15. The first degree of freedom is height, and the control system is the first degree of freedom The system is configured to determine the boundary points of the two-dimensional region based on the position of the handheld portion. The handheld robot system according to claim 12.

16. The control system, based on a pair of coordinates defining the boundary points of the two-dimensional region, The hand according to claim 15, configured to determine the magnitude of the range of motion vector. Portable robotic system.

17. The handheld robot according to claim 14, wherein the two-dimensional region is defined by multiple lines. system.

18. The two-dimensional region is asymmetrical with respect to the origin, as described in claim 16. T system.

19. The origin is a point other than the center of mass of the two-dimensional region, as described in claim 17. Robot system.

20. At least two of the aforementioned two-dimensional regions have different shapes, sizes, or The handheld robot system according to claim 18, having a combination thereof.

21. One of the at least two of the plurality of two-dimensional regions is a first height Corresponding to the first range of motion in the ch and roll, the few of the plurality of two-dimensional regions At least one of the two is a second pitch and roll at a second height A handheld robot system according to claim 20, which corresponds to the range of motion.

22. The visual indicator comprises multiple light sources, and the control system controls the actual deviation vector Based on the magnitude of Tor, the direction of the actual deviation vector, or a combination thereof, Control the state of at least one of the multiple light sources to control the pitch direction, roll direction and The system is configured to show the user one or more desired changes in one or more of the translational positions. The handheld robot system according to claim 12.

23. Claim 2 The handheld robot system described in 2.

24. At least three of the aforementioned multiple light sources are arranged in an array surrounding the central axis, The control system defines the array based on the magnitude of the actual deviation vector. The handheld robot system according to claim 23, configured to control the aforementioned light source Hmm.

25. Based on the magnitude of the actual deviation vector and the deviation threshold, the control system determines the The handheld robotic system according to claim 24, further configured to control the array Stem.

26. The deviation threshold is the range of motion vector in the polar coordinate system based on the orientation of the handheld portion. Based on the size of the torque, the range of motion vector is at least one of the plurality of two-dimensional regions. Claim 25, extending from another origin to the boundary point of the at least one two-dimensional region. The handheld robotic system described below.

27. The control system controls the array based on the direction of the actual deviation vector. Identify the root light source, and at least one adjacent to the root light source on the first and second sides It is configured to identify two adjacent light sources, based on the magnitude of the actual deviation vector. Claim 24, configured to control the state of at least two adjacent light sources. The handheld robotic system described below.

28. The visual indicator includes a translation indicator separate from the array, and the translation indicator The indicator is equipped with a translation light source, and the control system is the handheld in the first degree of freedom. The state of the translation light source is controlled based on the position of the portion and the translation threshold. The handheld robot system according to claim 26.

29. The translational visual indicator includes a first segment and a second segment, the first The segment includes a first translational light source, and the second segment includes a second translational light source. The control system controls the state of the first translation light source and the second translation light source, The handheld portion is configured to change the translational position as shown to the user, The handheld robot system according to claim 28.

30. The first segment and the second segment are the midline of the translational visual indicator. Located on both sides, the control system is positioned to indicate the desired direction of movement of the handheld portion. To illuminate at least one of the first segment and the second segment. A handheld robot system according to claim 29, comprising the configuration described above.

31. The first segment and the second segment are arranged perpendicularly on the first axis, The first axis is perpendicular to the plane defined by the tool support, as described in claim 30. A handheld robotic system.

32. The translation light source includes a plurality of translation light sources, and the control system is in the first degree of freedom Based on the position of the handheld portion and the translation threshold, a root is generated from the plurality of translation light sources. Identify the translation light source, and at least the following are adjacent to the root translation light source on the first and second sides It is also configured to identify two adjacent light sources, and the handheld portion in the first degree of freedom Based on the position and the translation threshold, the state of the at least two adjacent light sources is controlled. A handheld robot system according to claim 28, configured as described above.

33. The state of the translation light source is whether the plurality of translation light sources are on or off, or the light The frequency of the light pulse emitted by the source, the intensity of the light emitted by the light source, The handheld robot system according to claim 32, which is the color of a light source, or a combination thereof. 。

34. The handheld robot system according to claim 28, wherein the translation threshold includes a range of translation thresholds. 。

35. The range of the translation threshold is based on a Cartesian model representing the three-dimensional workspace of the handheld portion. The handheld robot system according to claim 34.

36. The Cartesian model representing the three-dimensional workspace of the handheld portion is derived from empirical data. The handheld robot system described in claim 35 is derived.

37. The visual indicator includes a display screen, and the control system controls the handheld portion. The display screen is configured to control the display screen to show a roll index based on the roll component of the posture. The handheld robot system described in claim 9 has been achieved.

38. The aforementioned display screen is configured to display the role criteria object, and the role indicator Based on the roll component of the commanded position of the handheld portion and the roll range of motion, the A handheld robotic arm according to claim 37, which is positioned relative to a reference object. Stem.

39. The control system, based on the components of the commanded posture of the handheld portion other than the roll, A handheld robot according to claim 38, configured to determine the range of motion of the roll. system.

40. The aforementioned visual indicator includes a display screen, and the control system displays translational indicators. The control system is further configured to control the display screen, and the control system is the first free Based on the position or orientation of the handheld portion in degrees, the translation index is controlled. A handheld robot system according to claim 9, comprising the configuration described above.

41. The aforementioned display screen includes a translation reference object that indicates the translation range, and the translation index is the Based on the position of the handheld portion in the first degree of freedom and the translational range of motion, the translational reference A handheld robot system according to claim 40, which is positioned within an object.

42. The handheld robot system according to claim 41, wherein the first degree of freedom is height.

43. The aforementioned translational range of motion is based on the Cartesian model representing the three-dimensional working space of the handheld portion. The handheld robot system according to claim 42.

44. The aforementioned display screen is configured to display two or more translation reference objects, at least Each translation reference object is located on each side of the display screen, as described in claim 41. Handheld robotic system.

45. The visual indicator includes a display screen, and the control system controls the handheld portion. The pitch component of the posture, the roll component of the commanded posture, the pitch range of motion, and the roll range of motion are used to determine the pitch component of the posture, the roll range of motion, and the pitch component of the posture, Based on this, the display screen is configured to be controlled to display the pitch roll indicator. The handheld robot system according to claim 12.

46. The pitch roll index is a two-dimensional representation of a three-dimensional virtual object, and the two-dimensional representation It is positioned vertically based on the pitch component of the commanded posture and the pitch range of motion. The two-dimensional representation is based on the roll component of the commanded posture and the roll range of motion. A handheld robot system according to claim 45, which is positioned in the direction of rotation.

47. The control system determines the pitch range of motion based on the roll component of the commanded posture. The roll's range of motion is determined based on the pitch component of the commanded posture. The handheld robot system according to claim 46.

48. The three-dimensional virtual object is a polygon, and the polygon has a front and a back. The rectangular back is positioned on the opposite side of the polygonal front, and the front of the polygon And one of the back faces is the magnitude, direction, or combination thereof of the actual deviation vector. A handheld robot system according to claim 46, which is positioned based on se.

49. The visual indicator is connected to the tool support, the handle portion, or a combination thereof. A handheld robot system according to any one of claims 1 to 48, which is combined.

50. The visual indicator is a display screen separate from the device, according to any of claims 1 to 49. A handheld robotic system as described in any one of the items.

51. The handheld type according to claim 50, wherein the display screen is attached to a navigation cart. Robot system.

52. The user holds the handheld portion and is connected to the handheld portion, which controls the movement of the surgical tool. A tool support equipped with a tool drive motor, and the tool support and the handgrip portion By electrically interconnecting the two, the surgical tool can be moved with multiple degrees of freedom relative to the handheld portion. Actuators including multiple actuators for moving the tool support in a manner that is shaky An appliance equipped with a ta-assembly, A visual indicator that guides the user to the location where the handheld portion should be placed, A control system coupled with the plurality of actuators and the visual indicator. Then, the first orientation of the handheld part is determined in a known coordinate system, and the components of the first orientation Based on this, the first range of motion in the first degree of freedom is determined, and in the known coordinate system, the hand Determine the second posture of the holding portion, and based on the components of the second posture, in the first degree of freedom A second range of motion is determined, which is different from the first and second ranges of motion, and the first Unlike the first and second postures, the first posture in the first degree of freedom is based on the first posture. Determine the first position or orientation of the handle portion, and the first position or orientation and the first movable Based on the region, the visual indicator is controlled, and the second posture in the first degree of freedom Based on this, the second position or orientation of the handgrip portion is determined, and the second position or orientation and the aforementioned A control system configured to control the visual indicator based on the range of motion of 2 Mu and A handheld robotic system used in conjunction with surgical tools equipped with [specific features / equipment].

53. The control system is Based on the components of the first posture described above, the third range of motion in the second degree of freedom is determined. Based on the components of the second posture, the fourth range of motion in the second degree of freedom is determined. Based on the first posture in the second degree of freedom, the third position or orientation of the handheld portion. The visual indicator is determined based on the third position or orientation and the third range of motion. Control the ta Based on the second orientation in the second degree of freedom, the fourth position or orientation of the handheld portion. The visual indicator is determined based on the fourth position or orientation and the fourth range of motion. Control The handheld robot system according to claim 52, further configured as follows.

54. The control system represents the three-dimensional working space of the tool support relative to the handheld portion. The claim is further configured to determine the first range of motion based on the Cartesian model. The handheld robotic system described in item 53.

55. The model is defined by a plurality of roll values, pitch values ​​and height values, claim 54 The handheld robotic system described below.

56. The aforementioned Cartesian model is derived from empirical data, and is a handheld robot according to claim 54. Bot system.

57. The aforementioned orientation of the handheld portion is the commanded orientation, the simulated commanded orientation, the measured orientation, and The handheld type according to claim 56, which is the previous command position, the previous measurement position, or a combination thereof. Robot system.

58. The aforementioned position of the handheld portion is the commanded position, the surgical tool is a saw blade, and the tool The support is defined as a blade support, the saw blade is coupled to the blade support, and the handle part The command posture of the minute is the relationship between the saw blade and the hand part, as described in claim 57. Portable robotic system.

59. The control system controls the first position of the handheld portion in the first degree of freedom or The orientation and the second position or orientation, and the handgrip portion in the second degree of freedom Based on the position or orientation of 3 and the position or orientation of 4, the actual deviation in the polar coordinate system Further configured to determine a vector, the actual deviation vector having magnitude and direction The control system determines the magnitude of the actual deviation vector and the actual deviation vector The system is configured to control the visual indicator based on the direction of the light, or a combination thereof. The handheld robot system described in claim 57.

60. The control system, based on the range of motion in the first degree of freedom, in the polar coordinate system The system is further configured to determine the range of motion vector, and the range of motion vector has a magnitude Furthermore, the range of motion vector is at least one of the multiple two-dimensional regions of the Cartesian model. Extending from one origin to the boundary point of the two-dimensional region, the control system controls the actual deviation The magnitude of the vector, the magnitude of the range of motion vector, and the actual deviation vector The visual indicator is configured to be controlled based on the direction or a combination thereof. The handheld robot system described in claim 59.

61. The direction of the actual deviation vector and the direction of the range of motion vector are equal to each other. The origin of the actual deviation vector is the same as the origin of the range of motion vector. The handheld robot system according to claim 60.

62. The control system determines the magnitude of the actual deviation vector and the range of motion vector. Claim 6 The handheld robot system described in 1.

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