Robotic system for ankle arthroplasty
AssigneeMAKO Surgical Corp.
InventorsManoj Kumar Singh, Yves Crozet, Daniel Greenberg
Life of this patent
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Abstract
Robotic system and methods for robotic arthroplasty are provided. The robotic system includes a machining system and a guidance system. The guidance station tracks movement of one or more of various objects in the operating room, such as a surgical tool, a tibia of a patient, a talus of the patient, or a component of an implant. The guidance system tracks these objects for purposes of displaying their relative positions and orientations to the surgeon and, in some cases, for purposes of controlling movement of the surgical tool of the machining system relative to virtual cutting boundaries or other virtual objects associated with the tibia and talus to facilitate preparation of bone to receive an ankle implant system.
Claims20
A method for verifying a talar implant placement on a talus, the talar implant having a known geometry, the method comprising:
- providing a localizer for tracking one or more objects in a coordinate system:
- registering the talus for tracking in the coordinate system with a computer surgical system using the localizer;
- placing the talar implant on the talus;
- registering the talar implant for tracking in the coordinate system with the computer surgical system using the localizer;
- and
- determining the talar implant placement on the talus with the computer surgical system by comparing locations in the coordinate system of the registered talus and the registered talar implant determined with the localizer relative to a predetermined surgical plan for seating the talar implant to the talus.
A method for verifying a talar implant placement on a talus, the talar implant having a known geometry, the method comprising:
- providing a localizer for tracking one or more objects in a coordinate system;
- registering the talus for tracking in the coordinate system with a computer surgical system using the localizer;
- placing the talar implant on the talus;
- registering the talar implant for tracking in the coordinate system with the computer surgical system using the localizer;
- determining the talar implant placement on the talus with the computer surgical system by comparing locations in the coordinate system of the registered talus and the registered talar implant determined with the localizer relative to a predetermined surgical plan for seating the talar implant to the talus;
- and
- providing guidance on a display when the step of determining the talar implant placement determines that the talar implant is misplaced on the talus, wherein the step of providing guidance includes one or more of:
- visualizing the placement of the talar implant on the talus to display a misplacement of the talar implant on the talus, and indicating a different sized talar implant to correct the misplacement.
A method for verifying a talar implant placement on a talus, the talar implant having a known geometry, the method comprising:
- generating a preoperative image of the talus;
- providing a localizer for tracking one or more objects in a coordinate system;
- generating a virtual model of the talus with a computer surgical system based on the preoperative image of the talus;
- placing a tracker on the talus, the localizer being configured to track the tracker of the talus in the coordinate system;
- registering the talus for tracking in the coordinate system with the computer surgical system using the localizer;
- placing the talar implant on the talus;
- registering the talar implant for tracking in the coordinate system with the computer surgical system using the localizer;
- and
- determining the talar implant placement on the talus with the computer surgical system by comparing locations in the coordinate system of the registered talus and the registered talar implant determined with the localizer relative to a predetermined surgical plan for seating the talar implant to the talus.
Dependencies are inferred from the claim text.