Integrated Surgical Systems, Inc.

International Business Machines Corporation

Other

University of California

Brent D Mittelstadt

Russell H Taylor

Peter Kazanzides

Bela L Musits

William A Hanson

Edward Glassman

Howard A Paul

Steven M Cohan

Willie Williamson, Jr

Youngbae Park

Alind Sahay

Peter Kazanides

Steve Schreiner

Joel Zuhars

A method for generating an improved tool path for cutting a bone so as to minimize soft tissue trauma, wherein the method comprises: accessing an image of the bone which is to be cut; accessing an image of a pre-determined cutting pattern; superimposing the image of the pre-determined cutting pattern against the image of the bone; calculating the intersection of the pre-determined cutting pattern and the bone using the superimposed images of the pre-determined cutting pattern and the bone; and generating a tool path based upon the intersection of the pre-determined cutting pattern and the bone so as to minimize soft tissue trauma by leaving a thin perimeter of bone at the boundary of the bone cut when the boundary of the bone cut is adjacent to a bone surface.

Method and apparatus for generating a tool path for a robotic orthopedic surgical procedure

A method for re-registration between a robotic coordinate system and an image data set, said method comprising: providing an image data set that has been registered within a robotic coordinate system based upon an initial bone position within the robotic coordinate system; locating at least three conserved points fixed relative to the initial bone position prior to any detectable change in bone position from the initial bone position; relocating the same three conserved point after bone motion may have occurred to determine the locational change in the three conserved points; and re-register the image data set within the robotic coordinate system based on the locational changes.

Method for determining the location and orientation of a bone for computer-assisted orthopedic procedures using intraoperatively attached markers

A method of tracking and compensating for bone motion when operating on bone (,) with surgical robotic arm (,), comprising: determining a spatial relationship between surgical robotic arm (,) and bone (,); tracking translational and rotational movements of bone (,) with a bone motion detector, which preferably comprises a passive mechanical arm (,); and updating the spatial relationship as bone (,) moves.

Bone motion tracking system

A method for transforming a bone image data set representing at least a partial image of a long bone to a robotic coordinate system, comprising: generating the bone image data set from a bone image; registering a bone digitizer arm to the robotic coordinate system; generating a digitized bone data set by taking bone surface position measurements with the digitizer arm; and transforming the bone image data set into the robotic coordinate system by performing a best-fit calculation between coordinates of the bone image data set and corresponding coordinates of the digitized bone data set.

System and method for performing image directed robotic orthopaedic

Methods, systems and apparatus for planning the position of a prosthesis in a long bone in orthopaedic surgical procedures, such as hip replacement surgery, knee replacement surgery, long bone osteotomies, and the like. A bone model is generated from a scanned image of a bone, a prosthesis model is selected from a library of prosthesis models and then a cavity model is formed based on the prosthesis model and/or the bone model. The cavity model may then be positioned over the bone model, either interactively by the surgeon or automatically through an algorithm based on clinical parameters, to determine a reasonable location for implantation of a prosthesis within the bone. The cavity model allows the surgeon to optimize placement of the implant within the bone, and it provides important clinical information to the surgeon, such as areas in which press fits are provided, extension areas for possible subsidence and access areas for allowing the surgeon to insert the implant into the cavity.

System and method for cavity generation for surgical planning and

A method for transforming the image of a long bone into a system coordinate space, such as robotic system coordinate space, comprises identifying in the image data set directional coordinates representing bone axis and at least one positional coordinate on the bone surface. Corresponding coordinates in the actual bone immobilized in the robotic or other system space are then determined by contacting a probe, such as a probe at the end of a manipulatable arm on a robot, to corresponding locations in the actual bone. The coordinates within the image data set are then registered with the actual coordinates within the immobilized bone to produce a transfer function that can be used to transform the image data set to the coordinate system space.

Method and system for positioning surgical robot

A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28,32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44). The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.

Image-directed robotic system for precise robotic surgery including

A robotic surgical system includes a multiple degree of freedom manipulator arm having a surgical tool. The arm is coupled to a controller for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point. The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.

A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28, 32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44). The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.

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Placerville, CA, United States of America

Brent D Mittelstadt