Mako Surgical Corporation

Vijay Subramanian

Jamil Elbanna

Michael Prieto

Jienan Ding

Surgical systems and methods involve manipulation of a bone. A robotic manipulator supports and moves a surgical tool that has a cutting bur rotatable about a cutting axis. Controller(s) control the manipulator to align the cutting axis to a target axis associated with the bone and advance the cutting bur along the target axis towards a cortical region of the bone. The controller(s) control the surgical tool to rotate the cutting bur about the cutting axis and contact the cortical region. The controller(s) detect, from sensor(s), forces applied to the cutting bur by the cortical region and compare the sensed forces to a threshold indicative of skiving of the cutting bur relative the cortical region. In response to the sensed forces exceeding the threshold, the controller(s) adjust control of the manipulator and/or surgical tool to reduce forces applied to the cutting bur by the cortical region.

Robotic surgical systems and methods for mitigating skiving between rotary cutting tool and cortical bone

Surgical systems and methods for utilizing virtual boundaries having different constraint parameters. A robotic manipulator supports and moves a surgical tool for treating a bone structure. A navigation system tracks the surgical tool and the bone structure. Controller(s) obtain a virtual model of the bone structure and define first and second virtual boundaries relative to the virtual model. The first virtual boundary has a first constraint parameter and the second virtual boundary has a second constraint parameter that is different than the first constraint parameter. The virtual model and virtual boundaries are registered to the bone structure. The manipulator moves the surgical tool relative to the bone structure and the first and second virtual boundaries. The surgical tool is constrained relative to the first virtual boundary in accordance with the first constraint parameter and constrained relative to the second virtual boundary in accordance with the second constraint parameter.

Robotic surgical system and methods utilizing virtual boundaries with variable constraint parameters

Disclosed herein are techniques for preparation of a bone structure wherein a robotically controlled cutting bur is utilized for both milling the entry point at the outer cortical region and cannulation of the cancellous bone region for receipt of an implant. A robotic manipulator supports and moves the cutting bur and one or more controllers analyze measurements from sensors and, in response, control the robotic manipulator and/or the cutting bur for purposes such as landmark detection to determine entry point, avoiding tool skiving at entry point, and avoidance of cortical wall breach during cannulation. Also described are techniques for managing feed rate, rotational cutting speed, or mode of operation depending on operational conditions surrounding various stages of cannulation. A control interface is also provided to enable the user to manage or adjust cutting bur operation and feed rate.

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Weston, FL, United States of America

Vijay Subramanian