# US 12,178,527 B2 · Robotic cutting workflow

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- Number: US 12,178,527 B2
- Document ID: US12178527B2
- Status: Granted
- Kind: B2
- Application number: 17/486,561
- Filed: 2021-09-27
- Published: 2022-03-17
- Granted: 2024-12-31
- Earliest claimed: 2016-10-28
- Assignees: Orthosoft Ulc
- Applicants: Orthosoft ULC
- Inventors: Emily Gogarty; Olivier Boisvert; Pierre Couture; Di Li; Benoit Pelletier; Jean-Sebastien Merette; Suntara Ly
- Web page: https://patentgrep.com/patent/US12178527B2

## CPC

- A61B 34/32: operating autonomously
- A61B 17/1703: {using imaging means, e.g. by X-rays}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/30: Surgical robots
- B25J 9/1689: {Teleoperation}
- B25J 9/1697: {Vision controlled systems}
- A61B 17/154: {for preparing bone for knee prosthesis}
- A61B 17/155: {Cutting femur}
- A61B 17/157: {Cutting tibia}
- A61B 17/175: {for preparing the femur for hip prosthesis insertion}
- A61B 17/1764: {for the knee}
- A61B 34/25: {User interfaces for surgical systems}
- A61B 90/11: with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B 2017/00022: {Sensing or detecting at the treatment site}
- A61B 2017/00199: {with a console, e.g. a control panel with a display}
- A61B 2034/104: {Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring}
- A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2057: {Details of tracking cameras}
- A61B 2034/207: {Divots for calibration}
- A61B 2034/254: {being adapted depending on the stage of the surgical procedure}
- A61B 2090/064: {for measuring force, pressure or mechanical tension}
- A61B 2090/066: {for measuring torque}
- A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image}
- G05B 2219/40146: Telepresence, teletaction, sensor feedback from follower to operator
- G05B 2219/45117: Medical, radio surgery manipulator
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

Embodiments of a system and method for surgical tracking and control are generally described herein. A system may include a robotic arm configured to allow interactive movement and controlled autonomous movement of an end effector, a cut guide mounted to the end effector of the robotic arm, the cut guide configured to guide a surgical instrument within a plane, a tracking system to determine a position and an orientation of the cut guide, and a control system to permit or prevent interactive movement or autonomous movement of the end effector.

## Claims

### Claim 1

A system for surgical tracking and control comprising:
a robotic arm configured to allow interactive movement and execute controlled autonomous movement of an end effector;
a cut guide mounted to the end effector of the robotic arm, the cut guide configured to guide a surgical instrument within a plane;
a tracking system configured to determine a position and an orientation of the cut guide relative to a coordinate system; and
a control system configured to:
automatically make a determination that the cut guide is in a cutting position or aligned with a cutting line or a cutting plane based on the position;
in response to said determination, permit interactive movement of the end effector and prevent autonomous movement of the end effector, and wherein the control system is further configured to, after receiving an indication to activate autonomous movement, cause, in response to said determination indicating the cut guide is aligned with the cutting line or the cutting plane, autonomous movement of the end effector to the cutting position.

### Claim 2 (depends on 1)

The system of claim 1, wherein, after moving to the cutting position, the cut guide is further configured to be moveable along the cutting plane and to be prevented from moving outside of the cutting plane.

### Claim 3 (depends on 2)

The system of claim 2, wherein the cut guide is further configured to be allowed to enter a safety zone while in the cutting plane.

### Claim 4 (depends on 1)

The system of claim 1, wherein the control system is further configured to lock the cut guide into the cutting position after causing the cut guide to move to the cutting position.

### Claim 5 (depends on 4)

The system of claim 4, wherein the control system is further configured to move the cut guide relative to a tracked movement of a target object when the cut guide is locked, such that the cut guide is locked into the cutting position relative to the target object.

### Claim 6 (depends on 4)

The system of claim 4, wherein to lock the cut guide into the cutting position, the control system is further configured to lock the cut guide into the cutting position in response to receiving a selection via a user interface.

### Claim 7 (depends on 1)

The system of claim 1, wherein the control system is further configured to lock the cut guide into the cutting position after interactive positioning of the cut guide, the interactive positioning occurring after the autonomous movement.

### Claim 8 (depends on 1)

The system of claim 1, wherein the control system further comprises a user interface, the user interface including a selectable indication that upon selection, causes the control system to autonomously move the cut guide to the cutting position.

### Claim 9 (depends on 8)

The system of claim 8, wherein the cutting position is a predetermined cutting position selected by a surgeon relative to a target object, the predetermined cutting position aligning a first slot of the cut guide with a cut plane.

### Claim 10 (depends on 8)

The system of claim 8, wherein the control system is further configured to:
in response to said determination, activate the selectable indication.

### Claim 11 (depends on 1)

The system of claim 1, wherein the control system is further configured to automatically make the determination that the cut guide is in the cutting position or aligned with the cutting line or the cutting plane using anatomical landmarks of a target bone.

### Claim 12 (depends on 1)

The system of claim 1, wherein the tracking system is further configured to determine a position and an orientation of a target object relative to the coordinate system.

### Claim 13 (depends on 12)

The system of claim 12, wherein the position and the orientation of the cut guide are determined relative to the position and the orientation of the target object and wherein the coordinate system is determined from the position and the orientation of the target object.