Systems and methods for assisting surgery
AssigneeStryker Australia PTY LTD
InventorsMario Llewellyn Strydom, Jonathan Michael Roberts, Ross William Crawford, Anjali Tumkur Jaiprakash
Life of this patent
Estimating the term…
Abstract
Surgical systems and methods for assisting with procedures involving a subject's limb, such as a leg associated with a knee or hip joint. One or more robotic arms move and position the limb to manipulate the joint. The robotic arm(s) can be controlled based on a sensed joint gap or desired joint gap. An arthroscope can capture imagery of the joint and a tracking system can track poses of the arthroscope, the robotic arm(s), and the limb.
Claims22
A surgical system comprising:
- one or more robotic arms configured to support and move a limb of a subject;
- and
- one or more controllers coupled to the one or more robotic arms and being configured to:
- receive one or more parameters that define a desired pose for the limb;
- apply the one or more parameters to an inverse kinematic model that represents the limb to determine a pose for the limb;
- apply the determined pose to a forward kinematic model that represents the one or more robotic arms to obtain an output related to the desired pose;
- and
- control the one or more robotic arms based on the output from the forward kinematic model to move the limb to the desired pose.
A surgical system comprising:
- an arthroscope configured to capture images of a target site having a ROI with a varying dimension associated therewith;
- a tracking system being separate from the arthroscope and being configured to track a pose of the arthroscope;
- and
- one or more controllers coupled to the arthroscope and the tracking system and being configured to:
- acquire images of the target site captured by the arthroscope;
- determine, with the tracking system, poses at which the images are captured by the arthroscope;
- analyze the images and the poses at which the images are captured by the arthroscope to obtain points related to the ROI;
- and
- implement a stereo motion procedure with respect to the points of the ROI to determine the varying dimension of the ROI at each of a plurality of times.
A method of operating a surgical system, the surgical system including one or more robotic arms configured to support and move a limb of a subject, an arthroscope, an optical tracking system, and one or more controllers, the method comprising the one or more controllers:
- acquiring, from the arthroscope, camera imagery of a target site of the subject;
- obtaining, from the optical tracking system, poses of the arthroscope, the one or more robotic arms, and the limb;
- obtaining a kinematic model of one or both of:
- the limb and the one or more robotic arms;
- and
- controlling movement of the one or more robotic arms based on the acquired camera imagery, obtained poses, and obtained kinematic model or models.
Dependencies are inferred from the claim text.