Haptic volumes for reaming during arthroplasty

摘要

A haptic robotic system for reaming an acetabulum prior to inserting an acetabular cup is more accurate than conventional instruments and may reduce the risk of dislocation and improve durability of a hip implant. Disclosed is a three-dimensional tool path, referred to as a haptic volume. Once the haptic volume is implemented into the software of a haptically constrained surgical robotic system, the cutting tool or reamer can only be utilized within the haptic volume. The haptic volume guides the surgeon in preparing the final reamed bone surface with a greatly reduced chance of the reaming unintended bone and greatly increases the chance that the reaming procedure may be carried out using one reaming tool, or using a single-stage reaming process.

主权项

1. A haptic robotic surgical system for reaming an indentation in a bone of a patient, the system comprising:
a cutting tool including a central axis aligned with a bottom center of the cutting tool; and a controller programmed to: compare an intended indentation in the bone and a position of the cutting tool when placed proximate to the bone, the central axis of the cutting tool being offset from a central axis of the intended indentation; generate a haptic volume through the bone comprising a tapered section that narrows as the haptic volume extends inward through the bone based at least in part on the comparison of the intended indentation in the bone and the position of the cutting tool when placed proximate to the bone; and generate control signals that will allow movement of the cutting tool within the haptic volume and provide haptic feedback to constrain movement of the cutting tool outside of the haptic volume.