Robotically controlled water jet cutting
AssigneeMAKO Surgical Corp.
InventorsGokce Yildirim, Justin Joseph Gerges
Life of this patent
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Abstract
A cutting system includes a material removal tool having a fluid nozzle with an adjustable diameter, a workpiece including a target shape for removal, and a controller operable to adjust the diameter of the nozzle to vary fluid flow and control an amount of material removed by the material removal tool. The controller is adapted to adjust the nozzle to vary the fluid flow based on a position of the nozzle and workpiece data preoperatively obtained from the workpiece via a continuous feedback loop. A method of cutting a bone is also provided.
Claims19
A surgical cutting system, comprising:
- a bone resection tool including a nozzle having an adjustable diameter;
- and
- a controller operable to adjust the diameter of the nozzle to vary fluid flow and control an amount of bone removed from a workpiece by the bone resection tool,
- wherein the controller is adapted to adjust the nozzle diameter to control fluid pressure throughout a depth of a resection as different density of bone is encountered based on a position of the nozzle relative to the workpiece and bone quality data preoperatively obtained from the workpiece, and wherein the controller is adapted to provide minimal fluid pressure sufficient to cut through respective bone densities as each of the different bone densities is encountered.
A method of cutting bone comprising:
- obtaining bone quality data;
- operating a bone removal tool including a nozzle having an adjustable diameter, the bone removal tool coupled to a robotic arm via an instrument drive mechanism;
- and
- controlling the diameter of the nozzle to control fluid pressure throughout a depth of a resection as different density of bone is encountered based on a position of the nozzle and the obtained bone quality data, and wherein the controlling step further comprises providing minimal fluid pressure sufficient to cut through respective bone densities as each of the different bone densities is encountered.
Dependencies are inferred from the claim text.