Customized Haptic Boundaries for Patient-Specific Bone Resection

Solution Overview

Problem

Computer-assisted surgery systems face limitations in customizing haptic boundaries for prosthetic implant placement, as they often require selecting from a finite number of prosthetic components that may not precisely match patient anatomy, leading to suboptimal bone resection and potential damage to surrounding tissue.

Innovation Solution

A method for customizing haptic boundaries based on patient-specific anatomy by identifying a standard haptic boundary associated with a virtual implant model, determining anatomic features at the intersection with the patient's anatomy, and modifying the boundary to generate a customized haptic boundary that accommodates the unique anatomy and surgical tool geometry.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If a standard haptic boundary based on virtual implant model geometry is used, then the boundary definition is simple and quick, but it does not accommodate patient-specific anatomy variations leading to suboptimal bone resection

Engineering Contradiction:

Improvebone resection precisionVSAvoidboundary customization complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The system performs preliminary actions by pre-defining standard haptic boundaries based on virtual implant model geometry before surgery. These standard boundaries serve as a starting point that can be quickly applied, yet the system allows for subsequent customization based on actual patient anatomy measurements taken during surgery, thus balancing efficiency with precision.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The haptic boundary system transitions from a static, pre-defined standard boundary to a dynamic, customizable boundary that adapts to patient-specific anatomy. The boundary can be modified in real-time during surgery based on actual measurements, allowing the system to maintain simplicity when standard boundaries suffice while enabling precision customization when needed.

Inventive Principle:

Principle #15Dynamics

2Measurement precision

If the haptic boundary is customized to match patient anatomy precisely, then bone resection accuracy is improved, but the time and complexity of boundary definition increases

Engineering Contradiction:

Improveanatomy matching precisionVSAvoidboundary definition time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system performs preliminary actions by pre-defining standard haptic boundaries based on virtual implant model geometry before surgery. These standard boundaries serve as a starting point that can be quickly applied, yet the system allows for subsequent customization based on actual patient anatomy measurements taken during surgery, thus balancing efficiency with precision.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system enables parameter changes by allowing the haptic boundary geometry to be modified based on actual patient anatomy measurements. The boundary can be adjusted in terms of size, shape, and position to match the specific anatomical features of the patient, transforming a generic boundary into a customized one without requiring complete redefinition.

Inventive Principle:

Principle #35Parameter changes

3Ease of operation

If fixed haptic boundaries based on implant geometry are used, then the system is easy to operate, but it may damage surrounding tissue by not accommodating anatomical variations

Engineering Contradiction:

Improvesystem operation simplicityVSAvoidsurrounding tissue damage risk

Core Design Contradiction:

Ease of operationVSObject-affected harmful factors

Solution Approach 1:

The system performs preliminary actions by pre-defining standard haptic boundaries based on virtual implant model geometry before surgery. These standard boundaries serve as a starting point that can be quickly applied, yet the system allows for subsequent customization based on actual patient anatomy measurements taken during surgery, thus balancing efficiency with precision.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The haptic boundary system transitions from a static, pre-defined standard boundary to a dynamic, customizable boundary that adapts to patient-specific anatomy. The boundary can be modified in real-time during surgery based on actual measurements, allowing the system to maintain simplicity when standard boundaries suffice while enabling precision customization when needed.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS11832887B2Systems and methods for generating customized control boundaries

Publication Date: 2023.12.05 MAKO SURGICAL CORP

AI summary

A method includes providing a standard control boundary defining a portion of a bone to be resected, registering a position of a soft tissue at the bone, obtaining a customized control boundary by moving a vertex of the standard control boundary based on the position of the soft tissue, and controlling a robotic device to constrain operation of a cutting tool to an area defined by the customized control boundary.