Systems and methods for fabricating biological structures

Abstract

To provide a system and a method capable of constraining a tool by using a virtual boundary upon manipulating an anatomy with the tool for a surgical system.SOLUTION: A system for manipulating an anatomy with a tool 20, in a first mode, constrains movement of the tool 20 in association with an intermediate virtual boundary 90. The intermediate virtual boundary 90 is invalidated in a second mode, and in the second mode, movement of the tool 20 is constrained in association with a target virtual boundary 80. The target virtual boundary 80 and the intermediate virtual boundary 90 are a cut boundary or a manipulating boundary, and movement of the tool 20 can be limited.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This application is a joint venture of U.S. Provisional Patent Application No. 62 / 163,672, filed May 19, 2015. This application claims priority to and the benefit of, the disclosure of which is incorporated herein by reference. The entirety of each of the preceding claims is hereby incorporated by reference.

[0002] [Field of the Invention] The present invention generally relates to a system for machining biological structures with tools of a surgical system. More particularly, the present invention relates to a system and method for constraining a tool using a virtual boundary. and methods. [Background technology]

[0003] Recently, operators have increasingly used robotic devices to assist in surgical procedures. Robotic devices are typically positioned with a high degree of precision. The surgical instrument includes a movable arm having a distal free end that can be moved. The operator moves the arm, which This allows the tools to be accurately positioned at the surgical site to perform the procedure.

[0004] In robotic surgery, the area in which the tool is actuated is delineated from the area in which the tool is constrained. To achieve this, a virtual boundary was generated using computer-aided design software prior to surgery. For example, in orthopedic surgery, bone may be removed by tools during surgery from areas of bone that remain after surgery. A virtual resection boundary may be generated to delineate the area of ​​bone to be removed.

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

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

[0007] There is a need in the art for a system and method that addresses at least the aforementioned problems. It is said that. [Means for solving the problem]

[0008] An embodiment of a system for fabricating a biological structure is provided. The system includes a base and The tool is connected to the manipulator. The controller is movable relative to the base to interact with the biological structure. A method for generating a first virtual boundary associated with a body structure and a second virtual boundary associated with a biological structure. The control device controls the movement of the tool in the first mode and the second mode. The control device is configured to control the tool in the first mode to move the tool to a first virtual boundary. and activating a first virtual boundary to constrain the field relative to the first virtual boundary. In a second mode, a first virtual boundary is used to constrain the tool relative to a second virtual boundary. It is designed to disable imaginary boundaries.

[0009] One embodiment of a method for operating a surgical system to process a biological structure with a tool includes: The method includes: generating a first virtual boundary associated with the anatomical structure and a second virtual boundary associated with the anatomical structure. In a first mode, the first virtual boundary is active. In the first mode, the tool movement is constrained relative to a first virtual boundary. In the second mode, the first virtual boundary is disabled. ,The ,movement ,of ,the ,tool ,will ,be ,constrained ,with ,relative ,to ,the ,second ,virtual ,boundary.

[0010] The system and method advantageously include the presence of an intermediate virtual boundary between the first and second modes. As a result, the present system and method provide an opportunity to selectively control the activation of first and second The present invention provides a different virtual boundary configuration for each of the two modes, thereby enabling the surgical system to This can increase the versatility and performance of the system.

[0011] The advantages of the present invention will be better understood by reference to the following detailed description taken in conjunction with the accompanying drawings. If it is understood, it will be easily understood. [Brief description of the drawings]

[0012] [Figure 1] 1 is a perspective view of a system for preparing a patient's anatomy with a tool according to an embodiment of the present invention; FIG. [Diagram 2] FIG. 1 is a schematic diagram of a controller for controlling a surgical system according to one embodiment of the present invention. [Diagram 3] 1 illustrates a tool interacting with anatomy along a tool path to create a target surface according to one embodiment of the present invention. [Figure 4] FIG. 13 illustrates operation of the system in a first mode in which the tool is constrained relative to a spaced intermediate virtual boundary relative to a target virtual boundary. [Diagram 5] FIG. 13 illustrates operation of the system in a second mode in which the tool is constrained relative to a target virtual boundary that is offset from the target surface of the anatomy. [Figure 6] FIG. 13 illustrates operation of the system in a first mode in which the tool is constrained relative to an intermediate virtual boundary and the target virtual boundary is activated and maintained. [Figure 7] FIG. 13 illustrates operation of the system in a second mode in which the tool is constrained relative to a target virtual boundary aligned with a target surface of the anatomy. [Figure 8] FIG. 13 illustrates operation of the system in a first mode in which the tool is constrained relative to an intermediate virtual boundary and the target virtual boundary is disabled. [Figure 9] FIG. 13 illustrates operation of the system in a first mode in which the tool is constrained relative to an intermediate virtual boundary having a different contour than the target virtual boundary. [Figure 10] FIG. 13 illustrates operation of the system in a second mode in which the tool is constrained relative to a target virtual boundary having a different contour than the target surface. [Figure 11] FIG. 13 illustrates operation of the system in a first mode in which the tool is constrained between an intermediate virtual boundary and a target virtual boundary. [Figure 12] FIG. 1 illustrates operation of the system in a first mode in which the tool is constrained between an intermediate virtual boundary and a target surface. [Figure 13] 13A, 13B and 13C are diagrams illustrating the characteristics of the anatomy resulting after mass resection in a first mode according to one example. [Figure 14] 14A, 14B and 14C are diagrams illustrating characteristics of anatomy resulting after microablation in the second mode according to one example. [Figure 15] FIG. 1 illustrates the operation of a system using three virtual boundaries, each enabled in a separate mode. [Figure 16] FIG. 1 illustrates the operation of the system with two or more tools and three virtual boundaries activated simultaneously. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] [I. Overview] Referring now to the drawings, a system 10 and method for machining the anatomy of a patient 12 is shown in FIG. In the several views, like numbers refer to like or similar parts throughout the drawings. As shown in FIG. 1, the system 10 is A robotic surgical excision system for excising material from an anatomy of a patient, such as soft tissue. In FIG. 1, a patient 12 is undergoing a surgical procedure. The anatomy of FIG. The patient is then examined to determine whether the femur (F) and tibia (T) are intact. The surgical procedure involves tissue removal. In an embodiment, the surgical procedure comprises a partial or total knee replacement and a hip replacement. The system 10 may be used to implant a surgical implant, such as a hip or knee implant. The knee implant is designed to remove material that would otherwise be replaced by The implants include unicondylar implants, bicondylar implants, and total knee implants. Some of the articles are incorporated herein by reference in their entirety. No. 7, the disclosure of which is incorporated herein by reference. Those skilled in the art will appreciate that the systems and methods disclosed herein may be adapted for use in other surgical or non-surgical procedures. The robot may be used to perform a variety of tasks, such as performing a variety of tasks, or in industrial or other applications where robotic systems are utilized. It will be understood that the present invention may be used in a variety of applications.

[0014] The system 10 includes a manipulator 14. The manipulator 14 includes a base 1 6 and linkage 18. Linkage 18 may be in a series arm configuration or a parallel arm configuration. The tool 20 is connected to the manipulator 14. The tool 20 is movable relative to the base 16 for interaction with the biological structure. is part of the end effector 22 attached to the manipulator 14. The tool 20 is adapted to be held by an operator. One exemplary configuration of the tool 20 is "capable of controlling a surgical instrument in multiple modes." No. 9,119,655, entitled "Surgical Manipulator for a Medical Device" The disclosure of which is incorporated herein by reference. The tool 14 and tool 20 may be configured to have alternative configurations. "End effector for surgical robot manipulator" filed on March 15, 2014 Similar to the tool shown in U.S. Patent Application Publication No. 2014 / 0276949, entitled This document is incorporated herein by reference. The tool 20 is an energy actuator designed to contact tissue of the patient 12 at a surgical site. The energy applicator 24 may be a drill, a saw blade, a burr The manipulator 14 may be a manipulator, an ultrasonic vibration tip, a probe, or the like. The system houses a programmable controller computer 26 or other type of control unit.

[0015] Referring to FIG. 2, the system 10 includes a control device 30. The control device 30 is It includes software and / or hardware for controlling the manipulator 14 . A controller 30 directs the motion of the manipulator 14 and determines the orientation of the tool 20 relative to a coordinate system. In one embodiment, the coordinate system is the manipulator coordinate system MNPL (see FIG. 1). The manipulator coordinate system MNPL has an origin, which is located at the center of the manipulator 1. An example of the manipulator coordinate system MNPL is the "manipulator with multiple surgical instruments" U.S. Patent No. 9, entitled "Surgical Manipulator Capable of Being Controlled in Multiple Modes," 119,655, the disclosure of which is incorporated herein by reference. This shall be included.

[0016] The system 10 further includes a navigation system 32. One example of Stem 32 is the “Optical and Non-Optical Sensors” patent application filed on September 24, 2013. The present invention is described in U.S. Patent No. 9,008,757 entitled "Navigation System with a Navigation System for a Car" and is incorporated herein by reference in its entirety. This document is incorporated herein by reference. Navigation The system 32 is adapted to track the movement of various objects. For example, the tool 20 and the biological structure, such as the femur F and the tibia T, may be used. The navigation system 32 tracks these objects and maps them to the localizer coordinate system LCLZ. The coordinates of the localizer coordinate system LCLZ are the same as those of the conventional Using a transformation technique, it may be transformed into the manipulator coordinate system MNPL. The system 32 provides the operator with a virtual image of the relative positions and relative orientations of those objects. It is also possible to display the message.

[0017] The navigation system 32 includes a computer that houses a navigation computer 36. The navigation system may include a navigation cart assembly 34, and / or other type of control unit. The interface is in operative communication with the navigation computer 36. The navigation interface includes one or more displays 38. Using first and second input devices 40, 42 such as a keyboard and a mouse, The information is input to the navigation computer 36 or The touch screen (not shown) may be used to select / control some characteristics of the touch screen. Other input devices 40, 42 are also contemplated, including keyboard or voice activation. Any suitable device or devices within the stem 10, such as, but not limited to, a manipulator Implemented in the data computer 26, the navigation computer 36, and any combination thereof. It would be good if this was done.

[0018] The navigation system 32 is a local area network (LAN) that communicates with a navigation computer 36. In one embodiment, the localizer 44 is an optical localizer. The camera unit 46 is equipped with one or more optical The system 10 has an outer casing 48 which houses an optical position sensor 50. The system is equipped with multiple trackers. The trackers are the Pointer Tracker PT, the Tool Tracker The system includes a patient tracker 52, a first patient tracker 54, and a second patient tracker 56. The tracker includes an active marker 58. The active marker 58 is , light emitting diodes or LEDs. 56 is a passive marker, for example a reflector that reflects light emitted from the camera unit 46. Those skilled in the art will appreciate that other suitable tracking devices not specifically described herein may be used. It will be appreciated that the systems and methods may be utilized.

[0019] In the exemplary embodiment of FIG. 1, the first patient tracker 54 is secured to the femur F of the patient 12. The second patient tracker 56 is firmly secured to the tibia T of the patient 12. The patient trackers 54, 56 are fixedly secured to the bones. The tool tracker 52 is fixedly attached to the tool 20. , 56 may be secured to their respective components by any suitable method. I want to be understood.

[0020] The trackers 52, 54, 56 communicate with the camera unit 46 and transmit position data to the camera unit. The camera unit 46 supplies position data of the trackers 52, 54, and 56. The navigation computer 36 provides the data to the navigation computer 36. The computer 36 determines the position data of the femur F and the tibia T and the position data of the tool 20. The position data is transmitted to the manipulator computer 26. The position data of the tool 20 is then aligned with the tracker position using conventional alignment / navigation techniques. The position data may be determined by the femur T, the tibia T, the tool 20, and the tracking data. The position information includes position information corresponding to the position and / or orientation of any other object being viewed. The position data described may be position data, orientation data, or a combination of position data and orientation data. It may be a combination.

[0021] The manipulator computer 26 receives navigational data and The position data is then converted to a transformation matrix using the encoder-based data for the tool 20. Transform the data from the localizer coordinate system LCLZ to the manipulator coordinate system MNPL. To determine the position data based on the coder, the joints of the manipulator 14 are An encoder (not shown) is used. The manipulator computer 26 Using the encoder, the position of the tool 20 in the manipulator coordinate system MNPL is The position and orientation of the tool 20 are calculated in the localizer coordinate system LCLZ. Since the above is known, a transformation matrix can be generated.

[0022] As shown in FIG. 2, the control device 30 further includes a software module. The software modules process the data to assist in controlling the system 10. The manipulator computer 26, the navigation computer 36, or The software may be part of one or more computer programs that operate in combination. The air module includes a manipulator computer 26 and a navigation computer 36 or a combination thereof, and It also contains a set of instructions to be executed by the processor. The software modules may be part of one or more programs. , manipulator computer 26, navigation computer 36, or a combination thereof. The input device may include instructions stored in the memory of the first and second input devices. 40, 42 and one or more displays 38 interacting with the software modules It is designed to communicate with.

[0023] In one embodiment, the controller 30 receives data to direct the movement of the manipulator 14. The manipulator control device 60 is provided for processing the The device may be adapted to receive and process data from a single source or multiple sources.

[0024] The controller 30 transmits position data regarding the femur F, the tibia T, and the tool 20 to the manipulator. The vehicle further includes a navigation controller 62 for communicating with the navigation controller 60. The projector controller 60 receives the position data provided by the navigation controller 62. The received signal is processed to direct the movement of the manipulator 14. As shown, the navigation controller 62 controls the navigation computer 36 to It has been implemented.

[0025] The manipulator control device 60 or the navigation control device 62 also controls the femur F and and / or an image of the tibia T and the tool 20 on the display 38 to The position of the person 12 and the tool 20 may be notified to the operator. The controller interacts with the manipulator computer 26 to direct the manipulator 14. The manipulator computer 26 or the navigation computer 27 may be used. The computer 36 is adapted to display instructions or request information on a display 38. It would be good to do so.

[0026] As shown in Figure 2, the control device 30 includes a boundary generator 66. The device 66 may be implemented in the manipulator controller 60, as shown in FIG. Alternatively, the boundary generator 66 may be implemented as a software module. 62. As will be described in more detail below, The boundary generator 66 is adapted to generate a virtual boundary for constraining the tool 20 .

[0027] The tool path generator 68 is connected to the controller 30, and more specifically to the manipulator controller 6 0. The toolpath generator 68 is shown in FIG. As shown in FIG. 1, a tool path 70 is generated that indicates the bone where a portion must be removed to receive the implant. In FIG. 3, the tool path 70 is represented by a zigzag line. The smoothness and quality of the finished surface depends in part on the relative positioning of the zigzag lines. More specifically, the narrower the zigzag path of the line, the more accurate and smooth the finished surface will be. The dashed line 84 indicates the circumference of the bone to be removed using the manipulator 14. One exemplary system and method for generating toolpath 70 is described in detail below. US Patent No. 5,333,635 entitled "Surgical Manipulator Capable of Controlling Instruments in Multiple Modes." No. 9,119,655, the disclosure of which is incorporated herein by reference. is hereby included.

[0028] II. Overview of the System and Method The system 10 and method for machining a biological structure with a tool 20 is shown in FIGS. As shown in FIG. 1, a first virtual boundary or intermediate virtual boundary 90 and a second virtual boundary 91 are associated with the anatomical structure. The intermediate virtual boundary 80 is defined by the controller 30. The intermediate virtual boundary 90 is spaced apart from the target virtual boundary 80. In the first mode, the movement of the tool 20 is is constrained relative to an intermediate virtual boundary 90. The intermediate virtual boundary 90 is shown in FIG. In the second mode, the tool 20 is disabled as shown in FIG. Movement will be constrained relative to the target virtual boundary 80 .

[0029] One exemplary system and method for generating the virtual boundary 80, 90 is described in detail below. U.S. Patent No. 5,333,363 entitled "Surgical Manipulator Capable of Controlling a Tool in Multiple Modes" No. 9,119,655, the disclosure of which is incorporated herein by reference. The boundary generator 66 generates a target virtual boundary 80 and an intermediate virtual boundary 90. These boundaries 80, 90 define the structure that the tool 20 is to remove. The tool 20 delineates between tissue that should not be removed and tissue that should not be removed. , 90 is a tissue on which the energy applicator 24 of the tool 20 acts and an energy applicator This delineates between the tissue that should not be affected by the locator 24 and the target virtual boundary 80. and the intermediate virtual boundary 90 is a cutting boundary or machining boundary and limits the movement of the tool 20. In many cases, but not by way of limitation, the virtual boundaries 80, 90 may be located within the patient 12. It is becoming increasingly clear that

[0030] Throughout the drawings, the target virtual boundary 80 and the intermediate virtual boundary 90 are shown in the first and second modes. The movement of the tool 20 is independently restricted between the two stages. 0 is the intermediate virtual boundary 90 in the first mode or the target virtual boundary 8 in the second mode. 0. A method for restricting the movement of the tool 20 The method is directed to a "surgical manipulator capable of controlling a surgical tool in multiple modes." No. 9,119,655, the disclosure of which is incorporated herein by reference. and are hereby incorporated herein by reference.

[0031] The surgical system 10 includes first and second clamping means 24 for providing various constraints on the tool 20. It is possible to switch between the modes. As shown in FIG. When the mode is switched to the second mode, the target virtual boundary 80 is left and the intermediate virtual boundary 90 is moved to the second mode. Therefore, in the second mode, the tool 20 cannot reach the target virtual boundary 80. This is possible because the intermediate virtual boundary 90 does not constrain the tool 20. 20 is constrained relative to the target virtual boundary 80 when the intermediate virtual boundary 90 is disabled. It becomes.

[0032] When the second mode is switched to the first mode as shown in FIG. The boundary 90 is enabled or reenabled. When the intermediate virtual boundary 90 is enabled, the tool 20 is constrained relative to the intermediate virtual boundary 90. Thus, in the first mode, the intermediate virtual boundary 90 will prevent the tool 20 from reaching the target virtual boundary 80.

[0033] The manipulator 14 receives a command from the controller 30 to place the tool 20 in a first mode. and / or the target virtual boundary 80 in the second mode. The navigation system 32 is configured to: The tool 20 relative to the intermediate virtual boundary 90 and / or the target virtual boundary 80 in the second mode. As the tool 20 moves, the manipulator 14 and the navigation system The system 32 cooperates to allow the tool 20 to move between the intermediate virtual boundary 90 in the first mode and / or the second mode. In the second mode, it is determined whether the object is inside the target virtual boundary 90. 14 selectively limits the extent to which tool 20 is moved. The intermediate virtual boundary 90 in one mode and / or the target virtual boundary 80 in a second mode. This will restrain the manipulator 14 from moving outside of the tool 20 to effect action. If the operator selects the intermediate virtual boundary 90 in the first mode and / or the intermediate virtual boundary 90 in the second mode, If a force or torque is applied that results in the advancement of the tool 20 beyond the target virtual boundary 80 at The manipulator 14 is adapted not to effect this intended positioning of the tool 20. .

[0034] As shown in FIG. 5, the target virtual boundary 80 is a boundary between an anatomical structure, and more specifically, a The target virtual boundary 80 is associated with a target surface 92 of the structure. The target surface 92 is the contour of the bone remaining after the removal procedure and to which the graft will be attached. In other words, the target surface 92 is the unbroken surface that remains after the ablation is completed. A defined surface area.

[0035] As shown in FIG. 5, during treatment, the target virtual boundary 80 is positioned some distance from the target plane 92. In one embodiment, this is dependent on the size and machining characteristics of the tool 20. The tool 20 is designed to hit the target virtual boundary 80 based on the machining characteristics of the tool 20. Taking this breakthrough into consideration, the target virtual boundary 80 is defined as a boundary between the target surface 92 and the target virtual The target surface 82 may be translated by a predetermined distance defined between the target surface 82 and the boundary 80. In the example, this distance corresponds to half the thickness of the tool 20. In another embodiment, the target virtual boundary The field 80 may vary depending on how the tool 20 and energy applicator 24 are tracked. It may be possible to offset or space the energy application surface 92 somewhat. The energy applicator 24 is configured to measure the energy rather than the points based on the outer ablation surface of the energy applicator 24. The eye may be tracked based on a point based on the center of the applicator 24. By offsetting the landmark virtual boundary 80 from the target surface 92, overshooting of the target surface 92 is prevented. For example, the center tracking can be adjusted to prevent the energy application of the tool 20. When the data is a spherical bar, the target virtual boundary is determined when the Tool Center Point (TCP) of the bar is tracked. As a result, the TCP is shifted by half the diameter of the bar. When in the up position, the outer surface of the bar will be positioned on the target surface 92 .

[0036] The intermediate virtual boundary 90 is spaced apart from the target virtual boundary 80. As shown in FIG. , the intermediate virtual boundary 90 is closer to the target plane 92 than the target virtual boundary 80 is to the target plane 92. 2. In essence, the target virtual boundary 80 is a boundary between the target surface 92 and the intermediate virtual boundary 90. Since the intermediate virtual boundary 90 is far away from the target surface 92, , whereas the movement of the tool 20 is generally constrained relative to the target virtual boundary 80. The tool 20 is more constrained relative to the intermediate virtual boundary 90. Movement is more constrained in the first mode than in the second mode This will be the case.

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

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

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

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

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

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

[0043] At any time during manual processing in the first mode or after processing in the first mode is completed After completion of the above process, the system 10 can switch from the first mode to the second mode. In one embodiment, switching between the first and second modes is in response to a manual input. For example, the operator may use certain controls to select between the first and second modes. Alternatively, the switch can be triggered by a specific event or For example, in the first mode, the system 10 The system is then programmed to determine when the required amount of tissue has been removed and switch to the second mode accordingly. Those skilled in the art will understand that switching between the first and second modes can be performed as follows: , it will be understood that this may be done in other ways not expressly described herein.

[0044] In the second mode, in one embodiment, the manipulator 14 manipulates a tool at the surgical site. 20, and thus directs the autonomous movement of the energy applicator 24. The manipulator 14 is capable of moving the tool 20 without the assistance of an operator. "No operator assistance" refers to the absence of an operator at the tool 20 to apply force to move the tool 20. This means that the operator does not physically touch the For example, an operator can remotely control the start and stop of a tool movement. Press a button on the remote control to start the movement of tool 20 and release the button to stop the movement of tool 20. Alternatively, the operator may press a button to initiate movement of the tool 20. Alternatively, a button for stopping the movement of the tool 20 may be pressed. The movement of the tool 20 in the cutting plane will be constrained relative to the target virtual boundary 80.

[0045] The system 10 and method advantageously provide an intermediate virtual boundary between the first and second modes. This provides the opportunity to selectively control the activation of the The system 10 and method provide various virtual boundary configurations for each of the first and second modes. This results in increased versatility for the surgical system and the operator. In some embodiments, this may advantageously be achieved by the operator switching to the first mode. This provides the operator with the opportunity to use the manipulator 14 to perform bulk machining in a First, the tool 20 may be manually actuated to remove large chunks of tissue. This portion of the tool 20 is sometimes called debulking. The operator, knowing that the workpiece is constrained away from the target surface 92, can Once the tissue chunks are in place, steps can be taken to process them much more quickly than by hand. Once removed, the system 10 switches to a second mode and removes the remaining portion of the tissue. This allows the autonomous machining of the material in a highly precise and controlled manner. In mode 2, the operator finely positions the instrument to define the surface of the remaining tissue. This part of the procedure is also known as the finishing cut. This finishing cut is possible because the intermediate virtual boundary 90 is invalidated and the target virtual boundary Because 80 is enabled.

[0046] III. Other Embodiments The target and virtual boundary 80, 90 are generated by the manipulator 14, and more specifically by the boundary generator The boundary generator 66 may be derived from various inputs. If the manipulator 14 is If the tissue was selectively removed so that a graft could be attached to the 2, boundary generation The second input to the calculator 66 is a map of the implant shape. The shape of the implant may be determined from an implant database. This relationship defines the boundaries of tissue that must be removed in order for the implant to be attached to the bone of the patient 12. This is especially true in the case of orthopedic implants that are intended to be worn for extended periods.

[0047] Other inputs to the boundary generator 66 are operator settings. These settings are The value should indicate which tissue the energy applicator 24 should be applied to. If the energy applicator 24 was to ablate tissue, the setting would be Identifying the boundary between the tissue to be removed and the tissue remaining after the action of the energy applicator 24. If the manipulator 14 is to facilitate attachment of an orthopedic implant, If so, these settings would define on which tissue the graft should be positioned. These set values ​​are preferably input before surgery using the data processing unit. Alternatively, these settings may be associated with one of the components of the system 10. The input / output unit, e.g. the navigation interface 40, 42 may be forced.

[0048] Based on the above input data and instructions, the boundary generator 66 generates a target virtual boundary 80 and an intermediate virtual boundary 82. It is advisable to generate an imaginary boundary 90. The boundary 80, 90 may be two-dimensional or three-dimensional. For example, the target virtual boundary 80 and the intermediate virtual boundary 90 may be The map or model may be generated as a virtual map or other three-dimensional model. The tool will guide the movement of the tool 20. The model will be used to indicate the position of the object. In addition, information about the model may be displayed on the manipulator control screen. The virtual boundary 80 and the intermediate virtual boundary 90 are transmitted to the control device 60 and manipulated. The actuator 14 and the tool 20 may be adapted to guide corresponding movements thereof.

[0049] In practice, before the start of the procedure, the operator at the surgical site determines the target virtual boundary 80 and the center At the start of the procedure, the patient 12 may be given an initial version of the virtual boundary 90. Data that more precisely defines the implant to be fitted is loaded into boundary generator 66. Such data may be stored in a memory device associated with the implant, e.g. Such data may be provided to the boundary generator 66. These data may be part of the graft database data that is generated. These data are based on post-manufacture measurements of the implants. These data may vary due to manufacturing variability. The shape of a particular implant may differ somewhat from the previously stored available definition of the implant shape. Based on the implant specific data, the boundary generator 66: A target virtual boundary 80 indicating the boundary between the tissue to be removed and the tissue to be left in place and an intermediate The virtual boundary 90 may be updated. U.S. patent application Ser. No. 13 / 5, entitled "Artificial Implants and Methods of Implantation," filed June 22, 30,927, which is incorporated herein by reference. After an appropriate amount of material, e.g., bone, has been removed, the method disclosed herein may be used. The implant may be implanted in the patient 12. Other implants are also contemplated.

[0050] In one embodiment, the target virtual boundary 80 is derived from points in a coordinate system related to the anatomical structure. The target virtual boundary 80 is designed to connect each of the captured points to each other. This allows the web or mesh that defines the target virtual boundary 80 to be interpolated. If only two points are captured, the target virtual boundary 80 is If three points are captured, the target virtual boundary 80 will be the lines between these points. The display 38 is formed by two lines connecting the touching points. The input devices 40, 42 may provide virtual feedback of the shape of the target virtual boundary 80. By using the above, for example, by moving the boundary, expanding or contracting the boundary or by changing the shape of the target virtual boundary 80. Those skilled in the art will appreciate that the target virtual boundary 80 may be modified in various ways, even if not specifically described herein. It will be appreciated that the present invention may be generated in other ways.

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

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

[0053] The intermediate virtual boundary 90 may be formed in a manner similar to that of the target virtual boundary 80. Essentially, the controller 30 may derive the intermediate virtual boundary 90 from the target virtual boundary 80. For example, The controller 30 copies the target virtual boundary 80 to form the intermediate virtual boundary 90. A copy of the target virtual boundary 80 may be used in any suitable manner to form the intermediate virtual boundary 90. For example, a copy of the target virtual boundary 80 may include Modifications such as translation, translation, skewing, scaling, rotation, reflection, and the like may be applied. If so, the intermediate virtual boundary 90 may be determined by other methods not specifically described herein. It will be appreciated that the boundary 80 may be derived.

[0054] The target virtual boundary 80 and the intermediate virtual boundary 90 may have any suitable contour. For example, as shown in FIG. 5, the target virtual boundary 80 may be formed by a contour similar to that of the target surface 92. In FIG. 10, the target virtual boundary 80 may have a planar or flat contour. In FIG. 4, the intermediate virtual boundary 90 has a contour similar to the contour of the target surface 92. In FIG. 9, the intermediate imaginary boundary 90 has a planar or flat contour. If a business is interested in the target virtual boundary 80 and intermediate virtual boundary 90, which are not specifically described herein, It will be appreciated that other contours may be used.

[0055] The target virtual boundary 80 and the intermediate virtual boundary 90 have the same contour, as shown in FIG. Instead, the boundaries 80, 90 may be different from each other, as shown in FIG. In FIG. 9, the contour of the target virtual boundary 80 may be a circle of the target surface 92. The outline of the intermediate imaginary boundary 90 is planar. It is understood that the contours of either of the boundaries 80, 90 may differ from those shown in FIG. It will be appreciated that the contours of each of the boundaries 80, 90 may be manually or manually adjusted by any suitable technique. may be generated automatically. Several factors, including but not limited to the process used, It may be beneficial to have different contours depending on the tool 20 and / or model.

[0056] Considering the first mode, several different embodiments of the target virtual boundary 80 are possible. As previously mentioned, in the first mode, the intermediate virtual boundary 90 is enabled and the tool 20 However, in the first mode, the target virtual boundary 80 is constrained relative to the intermediate virtual boundary 90. For example, the enabling and disabling of the Thus, in the first mode, the target virtual boundary 80 is enabled and the intermediate boundary 90 is also enabled. In one example, this may be done for redundancy purposes. Thus, the intermediate boundary 90 is an important feature of the system 10 because it acts as an ablation boundary. Errors in the implementation of the intermediate boundary 90 can expose the target surface 92 to errors. By simultaneously activating the virtual boundary 80, the system 10 can By having it as a backup for the virtual boundary 90 between the As a result, the manipulator 14 is provided with the target virtual boundary 80 as a redundant boundary. By knowing that the current state is correct, the system can operate at a higher speed. As shown, the target virtual boundary 80 may be disabled in the first mode. This is done to conserve computing resources, reduce implementation complexity, etc. It is good.

[0057] Control of the target virtual boundary 80 in the first mode may be automatic or manual. For example, the operator may move the target virtual boundary in the first mode. Alternatively, the system 10 may be configured to manually enable or disable the Depending on the event or condition, the system automatically determines whether it is appropriate to activate the target virtual boundary 80. For example, detection of instability in the system 10 may be determined dynamically. This results in automatic activation of the target virtual boundary 80 in mode 1.

[0058] The first and second modes may differ from one another depending on the application and various other factors. They may be of different types (i.e. manual / autonomous) or may be of the same type. One such factor is the duration of the operating procedure, which is greatly affected by the feed rate of the tool 20. The feed rate is the rate at which the distal end of the energy applicator 24 advances along the path area. Generally, in autonomous mode, the manipulator 14 is more precise, whereas in manual mode In manual mode, the manipulator 14 is not accurate. However, it can provide faster feed rates than the autonomous mode. This trade-off dictates what type of control should be implemented during the first and second modes. This is one factor.

[0059] The frequency of the back and forth vibration of the tool 20 along the cutting path 70 is a first mode and a second mode. Generally, the greater the frequency of the vibration, the greater the difference in the length of the ablation path 70. The amplitude is reduced and the cut provided by the tool 20 is "finer" On the other hand, the smaller the vibration frequency, the larger the amplitude of the cutting path 70 becomes, and the tool 2 0 results in a "bulkier" cut.

[0060] Generally, as the tool 20 traverses the cutting path 70, the tool 20 will As shown, a rib 110 is formed in the anatomy (distal thigh). Examples of such ribs are This is shown in U.S. patent application Ser. No. 14 / 195,113, entitled "Bone Pad." The contents of which are incorporated herein by reference. The original shape is obtained by a rotary tool, such as a bar, which forms a number of passage cuts 112. In the illustrated embodiment, the plurality of passageway machinings 112 are cut paths. 70. The rib 20 follows a substantially linear path resulting from the back and forth motion of the tool 20 along 70. 110 has a height 114, a width 116, and a number of protrusions 118. When the modes exhibit ablation paths 70 with different vibration frequencies, the first and second modes have different shapes. This results in ribs 110 having a slant shape.

[0061] In one example, the frequency is greater in the second mode than in the first mode. For example, FIGS. 13A-13C show ribs 110 resulting from mass resection in a first mode. 14A to 14C show ribs 1 produced by micro-resection in the second mode. As a result, the rib 110 has different characteristics between the first mode and the second mode. Specifically, the rib 1 formed in the first mode (FIG. 13B) is 10 shows the ribs (closer to each other) formed in the second mode (FIG. 14B). 110 shows a larger peak-to-peak distance between adjacent ribs 110 compared to ribs 110. The height and / or width of the rib 110 may also differ between the first and second modes. For example, the width 116 of the rib 110 in the mass resection mode (FIG. 13C) is 14C). Conversely, in the lumpectomy mode The height 114 of the rib 110 in the micro-resection mode (FIG. 13C) is In addition, the height of the protrusion 11 formed in the first mode is smaller than the height 114. The geometric shape of the 8 may be different from that formed in the second mode. and the second mode advantageously provides a variety of surface finishes suited to specific applications. Those skilled in the art will recognize that the first and second modes are described herein with respect to the ribs. It will be recognized that this results in differences in the properties of the external biological structure.

[0062] In one embodiment, the first mode is an autonomous mode and the second mode is a manual mode. In the first mode, the movement of the tool 20 is autonomous and relative to the intermediate virtual boundary 90. The autonomous machining in the first mode is switched to the manual machining in the second mode. In the second mode, the movement of the tool 20 is performed manually and the target virtual boundary 80. Specifically, the operator relies on the surgical system 10 to: In the first mode, the system will perform most of the tissue processing autonomously. The radar is driven in the first mode to directly interact with the target virtual boundary 80 closer to the target surface 92. By doing this, the operator can For example, the system 10 can perform surface finishing to a target surface 92. The method allows the operator to fixate the graft better than would be planned by autonomous processing. The final cut of the target surface 92 can be made. It may be preferable if the tumor is not able to be fully autonomously removed until the tumor is 92. By enabling the intermediate virtual boundary 90 in this mode, the operator can This gives the data additional margin because the intermediate virtual boundary 90 is smaller than the target virtual boundary 80. Because it is far from 0.

[0063] In another embodiment, the first and second modes are both manual modes. In this mode, the movement of the tool 20 is performed manually and is constrained relative to an intermediate virtual boundary 90. The manual processing in the first mode is switched to the manual processing in the second mode. Manual processing is preserved in the second mode, but the boundary configuration changes because In the second mode, the movement of the tool 20 is , manually and constrained relative to the target virtual boundary 80. This embodiment is advantageous In the present embodiment, an operator uses the manipulator 14 to perform block machining in the first and second modes. The intermediate virtual boundary 90 moves the tool 20 away from the target surface 92. An operator who knows the constraints of the tool can perform the work significantly faster and better than during autonomous machining. Once the tissue chunk is in the first mode, it can be manually processed. Once removed, the system 10 may be configured to manually process the remaining portion of the tissue. The second mode may be switched to a second mode. In the second mode, the operator may A random or fine surface finish is manually applied to the target surface 92 relative to the boundary 80. It can be generated.

[0064] In yet another embodiment, the first and second modes are both autonomous modes. In this mode, the movement of the tool 20 is autonomous and constrained relative to the intermediate virtual boundary 90. The autonomous machining in the first mode is switched to the autonomous machining in the second mode. Switching to the second mode maintains autonomous machining but disables the intermediate virtual boundary 90. In the second mode, the movement of the tool 20 is autonomous. and constrained relative to the target virtual boundary 80. This embodiment advantageously includes first and The opportunity to autonomously process tissue in a highly precise and controlled manner through two modes In addition, the operator may perform assembly after the autonomous machining in the first mode. In other words, the surgical device 10 is capable of moving completely autonomously to the target surface 92. Instead of processing the material automatically, the first mode is used as the first step. The operator monitors the progress of autonomous resection and the progress of the resection before invalidating the intermediate virtual boundary 90 in the second mode. and accuracy can be checked.

[0065] In one embodiment, the system and method are adapted to perform 'n' modes. For example, the system and method may implement three or more modes. The first mode may be a manual mode. The second mode may be, for example, a manual mode as shown in FIG. The third mode may be an autonomous mode, which indicates autonomous mass resection. The autonomous mode may be an autonomous mode that shows autonomous micro-dissection as shown in FIG. Any of the modes is other than the autonomous or manual modes described herein. They will understand that it is okay to do so.

[0066] The system and method may set 'n' virtual boundaries. For example, the system and method The method may set three or more virtual boundaries. 'n' virtual boundaries are used for 'n' modes. An example of three virtual boundaries is shown in FIG. In the embodiment, a first virtual boundary 90, a second virtual boundary 80, and a third virtual boundary 120 are The first imaginary boundary 90 is associated with the structure, where the first imaginary boundary 90 is the removal of the cartilage and surface layer of the bone. The second imaginary boundary 80 is provided to facilitate the placement of the graft. A third imaginary boundary 120 is provided to facilitate removal of deeper layers. Provided to facilitate drilling holes for inserting pegs / tails for fixing In the first mode, a first virtual boundary 90 is enabled. The movement of the tool is constrained relative to a first virtual boundary 90. In the second mode, the first The virtual boundary 90 is disabled. In the second mode, the third virtual boundary 120 remains enabled. In the second mode, the movement of the tool is constrained relative to a second virtual boundary 80. In the third mode, the second virtual boundary 80 is disabled. The movement of the tool is constrained relative to a third virtual boundary 120 .

[0067] In some embodiments, the 'n' virtual boundaries are tissue specific. The boundaries are configured to constrain the tool 20 in relation to different types of tissue. For example, , 'n' virtual boundaries are used to constrain the tool in relation to soft tissue, cartilage, bone, ligament, etc. This is done to protect certain tissues from processing by the tool 20. Good too.

[0068] Additionally or alternatively, 'n' virtual boundaries are region / location specific. The virtual boundaries are configured to constrain the tool 20 relative to various regions or locations. For example, the 'n' virtual boundaries may be oriented around other objects in the surgical site, such as retractors, other tools, etc. , the tool 20 may be constrained in relation to a tracker, etc. Any one of the virtual boundaries may be determined by the proximity of the tool 20 to a wet location where the biological structure is irrigated. The irrigation boundary is preferably designed to prevent the irrigation of the 'n' hypothetical The imaginary boundaries and 'n' modes may be implemented by various other techniques not specifically described herein. I would acknowledge that this may be possible.

[0069] In other embodiments, 'n' virtual boundaries are used in conjunction with two or more surgical tools 20. For example, as shown in FIG. A surgical tool 20b is provided. The tools 20a, 20b may be coordinated and / or synchronized. The first virtual boundary 90 is defined relative to the top surface of the anatomy. The second and third virtual boundaries 80, 120 are respectively along the left and right surfaces of the anatomical structure. Here, the virtual boundaries 80, 90, and 120 are defined as being simultaneously enabled. Furthermore, the imaginary boundaries 80, 90, 120 may intersect or touch each other. In another example, one tool 20 may be used for machining and another tool may be used for assembly. In such a case, one virtual boundary is the This may act as a constraint boundary, and other virtual boundaries may be used to prevent the towing tool from moving away from the intended towing area. It may act as a tissue traction boundary to prevent prolapse.

[0070] Any of the 'n' virtual boundaries will move as the position of the biological structure changes. This can be achieved by using the navigation system described herein. This may be achieved using motion and control techniques.

[0071] The 'n' virtual boundaries may be, for example, the same biological structure as shown throughout the figures. In such a case, each of the 'n' virtual boundaries may be defined with respect to the biological structure. Alternatively, the 'n' virtual boundaries can be calculated using various For example, some of the 'n' virtual boundaries may be defined relative to the femoral one of the 'n' virtual boundaries may be defined relative to the tibia bone, and another of the 'n' virtual boundaries may be defined relative to the tibia bone. This is done to protect the tibia from unintended manipulation. In such cases, the virtual border The space between the boundaries may be altered depending on the respective movements between the femur and tibia.

[0072] The controller 30 determines when the first mode is switched to the second mode or vice versa. The control device detects when the second mode is switched to the first mode. The position 30 determines whether the constraint of the tool 20 is relative to the target virtual boundary 80 or the intermediate virtual boundary 90. The system will now alert the operator to tell them if a fault is occurring. The warning may be visual, tactile, audible, and the like. If so, the warning may be implemented in a variety of other ways not specifically described herein. You will understand the good things.

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

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

[0075] Several embodiments have been discussed above. The disclosure is not intended to be exhaustive or to limit the invention to any particular form. The terminology used is for convenience of description and is not intended to be limiting. It is not intended to be limiting. Many modifications and variations are possible in light of the above teachings. However, the invention may be practiced otherwise than as specifically described.

[0076] The many features and advantages of the present invention will be apparent from the detailed description, and it is, therefore, intended by the appended claims to cover all such features and advantages of the invention which fall within the true spirit and scope of the invention. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not sought to limit the invention to the exact construction and operation illustrated and described, and therefore, all suitable modifications and equivalents are intended to be embraced within the scope of the invention. The claims of the original application in this application are as follows: [Claim 1] A robot manipulator; an end effector coupled to the robotic manipulator and movable by the robotic manipulator to interact with a target site in manual and autonomous modes of operation; a navigation system configured to track a position of the end effector and the target area; One or more control devices, defining a virtual boundary for the target area; In the autonomous mode, preventing the end effector from penetrating the virtual boundary; a controller configured to, in the manual mode, allow the end effector to penetrate the virtual boundary; A system comprising: [Claim 2] the virtual boundary is further defined as a first virtual boundary, and the one or more control devices are further configured to define a second virtual boundary relative to the target site, the first virtual boundary being spaced a first distance from the target site and the second virtual boundary being spaced a second distance from the target site, the second distance being different than the first distance; The one or more control devices defining an area between the first and second imaginary boundaries; In the autonomous mode, preventing the end effector from penetrating the area; The system of claim 1 , further configured to allow the end effector to penetrate the area in the manual mode. [Claim 3] 3. The system of claim 2, wherein the one or more control devices are further configured to disable the first virtual boundary or the second virtual boundary to enable the end effector to penetrate the zone in the manual mode. [Claim 4] The one or more control devices In the autonomous mode, controlling the robotic manipulator according to a first velocity; The system of claim 2 , configured to control the robotic manipulator according to a second velocity greater than the first velocity in response to determining that the position of the end effector is within the zone. [Claim 5] the one or more control devices define a third virtual boundary for the target site, the third virtual boundary being spaced from the target site a third distance different from the first distance and the second distance; configured to define a second area between the third imaginary boundary and one of the first and second imaginary boundaries; preventing, in the autonomous mode, the end effector from penetrating the second area; The system of claim 2 , further configured to allow the end effector to penetrate the second area in the manual mode. [Claim 6] The one or more control devices preventing the end effector from penetrating the second area in the manual mode; The system of claim 5 , further configured to: enable the end effector to penetrate the second area in the autonomous mode. [Claim 7] 6. The system of claim 5, wherein the one or more control devices are configured to disable one of the first virtual boundary, the second virtual boundary, and the third virtual boundary, thereby enabling the end effector to penetrate the second zone in the manual mode. [Claim 8] The system of claim 1 , further comprising a sensor coupled to the end effector for monitoring forces and torques applied to the end effector. [Claim 9] 1. A method of operating a system, the system comprising: a robotic manipulator; an end effector coupled to the robotic manipulator and movable by the robotic manipulator to interact with a target feature in manual and autonomous modes of operation; a navigation system configured to track a position of the end effector and the target feature; and one or more controllers; The method comprises: the one or more controllers defining a virtual boundary for the target area; in the autonomous mode, the one or more controllers preventing the end effector from penetrating the virtual boundary; and in the manual mode, the one or more control devices enabling the end effector to penetrate the first virtual boundary. [Claim 10] the virtual boundary is further defined as a first virtual boundary, the one or more control devices defining a second virtual boundary for the target site, the first virtual boundary being spaced a first distance from the target site and the second virtual boundary being spaced a second distance from the target site, the second distance being different than the first distance; The method comprises: the one or more controllers defining an area between the first and second virtual boundaries; in the autonomous mode, the one or more controllers preventing the end effector from penetrating the zone; and wherein in the manual mode, the one or more controllers allow the end effector to penetrate the area. [Claim 11] The method comprises: 11. The method of claim 10, further comprising the step of the one or more control devices further disabling the first virtual boundary or the second virtual boundary, thereby allowing the one or more control devices to penetrate the zone in the manual mode. [Claim 12] The method comprises: in the autonomous mode, the one or more controllers controlling the robotic manipulator according to a first velocity; and wherein the one or more controllers, in response to determining that the position of the end effector is within the zone, control the robotic manipulator according to a second velocity that is faster than the first velocity. Furthermore, the scope of the claims as originally filed in the original application of the original application of the original application of the original patent application (Patent Application No. 2017-558694) is as follows: [Claim 1] 1. A surgical system for modifying a biological structure, comprising: a manipulator having a base and a linkage; a tool coupled to the manipulator, the tool being movable relative to the base for interacting with the anatomy; and a controller configured to generate a first virtual boundary associated with the anatomical structure and a second virtual boundary associated with the anatomical structure and to control movement of the tool in a first mode and a second mode, the controller enabling the first virtual boundary in the first mode to constrain the tool relative to the first virtual boundary and disabling the first virtual boundary in the second mode to constrain the tool relative to the second virtual boundary; Equipped with a surgical system. [Claim 2] The surgical system of claim 1 , wherein the controller is configured to, in the first mode, prevent the tool from reaching the second virtual boundary. [Claim 3] The surgical system of claim 1 , wherein the controller is configured to allow the tool to reach the second virtual boundary in the second mode. [Claim 4] 2. The surgical system of claim 1, wherein an area is defined between the first and second virtual boundaries, and the control device is configured to prevent the tool from penetrating the area in the first mode and to allow the tool to penetrate the area in the second mode. [Claim 5] The surgical system of claim 1 , wherein the first virtual boundary is spaced from a target surface of the anatomy. [Claim 6] The surgical system of claim 1 , wherein the first mode is one of an autonomous mode and an automatic mode, and the second mode is the other of the autonomous mode and the manual mode. [Claim 7] The surgical system of claim 1 , wherein the first and second modes are either both autonomous modes or both manual modes. [Claim 8] 8. The surgical system according to claim 1, wherein a feed rate of the tool differs between the first and second modes. [Claim 9] The surgical system of claim 1 , wherein the control device is configured to enable the second virtual boundary in the first mode. [Claim 10] 8. The surgical system of claim 1, wherein the first virtual boundary is further defined as an intermediate virtual boundary and the second virtual boundary is further defined as a target virtual boundary. [Claim 11] 8. The surgical system of claim 1, wherein the first virtual boundary is spaced apart from the second virtual boundary. [Claim 12] 8. The surgical system of claim 1, wherein the controller is configured to control the tool to perform a chunk resection of the biological structure in the first mode and to control the tool to perform a micro-resection of the biological structure in the second mode. [Claim 13] 1. A method of operating a surgical system for tooling a biological structure, comprising: defining a first virtual boundary associated with the anatomical structure; defining a second virtual boundary associated with the anatomical structure; enabling the first virtual boundary in a first mode; in the first mode, constraining movement of the tool relative to the first virtual boundary; in a second mode, disabling the first virtual boundary; in the second mode, constraining movement of the tool relative to the second virtual boundary; A method comprising: [Claim 14] The method of claim 13 further comprising the step of preventing the tool from reaching the second virtual boundary in the first mode. [Claim 15] The method of claim 13 further comprising the step of allowing the tool to reach the second virtual boundary in the second mode. [Claim 16] 14. The method of claim 13, further comprising the steps of defining an area between the first and second virtual boundaries, and preventing the tool from penetrating the area in the first mode and allowing the tool to penetrate the area in the second mode. [Claim 17] The method of claim 13 , wherein the step of defining the first virtual boundary is further defined as spacing the first virtual boundary from a target surface of the anatomy. [Claim 18] 14. The method of claim 13, wherein the step of constraining movement of the tool in the first mode is performed by one of an autonomous mode and a manual mode, and the step of constraining movement of the tool in the second mode is performed by the other of the autonomous mode and the manual mode. [Claim 19] The method of claim 13 , wherein both the steps of constraining movement of the tool in the first mode and constraining movement of the tool in the second mode are performed by either an autonomous mode or an automatic mode. [Claim 20] 20. The method of claim 13, further comprising operating the tool according to different feed rates between the first and second modes. [Claim 21] 20. The method of claim 13, further comprising the step of manually switching between the first and second modes. [Claim 22] 20. The method according to claim 13, further comprising the step of autonomously switching between the first and second modes. [Claim 23] The method according to claim 13, further comprising the step of enabling the second virtual boundary in the first mode. [Claim 24] 20. The method of claim 13, further comprising: en bloc resection of the biological structure in the first mode; and micro-resection of the biological structure in the second mode. [Claim 25] The method of any one of claims 13 to 19, wherein the first virtual boundary is further defined as an intermediate virtual boundary and the second virtual boundary is further defined as a target virtual boundary. [Claim 26] 20. The method of claim 13, further comprising spacing the first imaginary boundary and the second imaginary boundary apart from each other.

Claims

1. 1. A surgical system for modifying a biological structure, comprising: Surgical tools; a robotic manipulator configured to support and move the surgical tool; One or more control devices, activating a first virtual boundary that delineates a first portion of the anatomical structure to be removed by the surgical tool and a second portion of the anatomical structure distinct from the first portion; controlling the robotic manipulator to enable the surgical tool to perform a mass resection of a first portion of the anatomical structure relative to a first virtual boundary; a controller configured to control the robotic manipulator and enable the surgical tool to micro-resect a second portion of the biological structure; A surgical system comprising:

2. The one or more control devices activating a second virtual boundary delineating a second portion of the anatomical structure to be removed by the surgical tool and a third portion of the anatomical structure to be protected from removal by the surgical tool; The surgical system of claim 1 , further comprising a surgical tool configured to control the robotic manipulator and to micro-resect a second portion relative to a second virtual boundary.

3. The surgical system of claim 2 , wherein the one or more controllers control the robotic manipulator in a manual mode and the surgical tool is configured to micro-resect a second portion relative to the second virtual boundary.

4. the second virtual boundary corresponds to a target surface of the anatomy; The surgical system of claim 2 or 3, wherein the first virtual boundary is spaced apart from the target surface.

5. The one or more control devices Controlling the robotic manipulator in a manual mode to enable a first portion to be subjected to a mass resection; changing operation of the robotic manipulator from the manual mode to an autonomous mode; The surgical system of claim 2 , wherein the robotic manipulator is controlled in the autonomous mode and the surgical tool is configured to micro-resect a second portion relative to a second virtual boundary.

6. The surgical system of claim 5 , wherein the one or more controllers are configured to enable the first virtual boundary in the manual mode.

7. The surgical system of claim 5 or 6, wherein the one or more controllers are configured to disable the first virtual boundary in response to changing to the autonomous mode.

8. The surgical system of claim 5 , wherein the one or more controllers are configured to activate the second virtual boundary in response to changing to the autonomous mode.

9. 9. The surgical system of claim 5, wherein the one or more controllers are configured to change operation of the robotic manipulator from the manual mode to the autonomous mode in response to a manual input.

10. 10. The surgical system of claim 5, wherein the one or more control devices are configured to automatically change operation of the robotic manipulator from the manual mode to an autonomous mode in response to determining that a required amount of anatomical structure has been removed by the surgical tool upon mass resection of a first portion in the manual mode.

11. The one or more control devices generating a first tool path for the surgical tool to resect the first portion, the first tool path defining a first frequency of path vibration; generating a second toolpath of the surgical tool to micro-ablate the second portion, and defining a second frequency of path vibration for the second toolpath; The surgical system of claim 1 , wherein the second frequency of the path vibration is configured to be greater than the first frequency of the path vibration.

12. The one or more control devices Controlling the robotic manipulator to move the surgical tool in a manual mode according to a first feed rate for a mass resection; Controlling the robotic manipulator to move the surgical tool in an autonomous mode according to a second feedrate for microresection; The surgical system of claim 1 , wherein the first feed rate is configured to be faster than the second feed rate.

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