Method and apparatus for generating a tool path for a robotic orthopedic surgical procedure

摘要

A method for generating an improved tool path for cutting a bone so as to minimize soft tissue trauma, wherein the method comprises:;accessing an image of the bone which is to be cut;;accessing an image of a pre-determined cutting pattern;;superimposing the image of the pre-determined cutting pattern against the image of the bone;;calculating the intersection of the pre-determined cutting pattern and the bone using the superimposed images of the pre-determined cutting pattern and the bone; and;generating a tool path based upon the intersection of the pre-determined cutting pattern and the bone so as to minimize soft tissue trauma by leaving a thin perimeter of bone at the boundary of the bone cut when the boundary of the bone cut is adjacent to a bone surface.

主权项

1. A method for generating an improved tool path for cutting a bone so as to minimize soft tissue trauma, wherein the method comprises:
accessing an image of the bone which is to be cut; accessing an image of a pre-determined cutting pattern; superimposing the image of the pre-determined cutting pattern against the image of the bone; calculating the intersection of the pre-determined cutting pattern and the bone using the superimposed images of the pre-determined cutting pattern and the bone; and generating a tool path based upon the intersection of the pre-determined cutting pattern and the bone so as to minimize soft tissue trauma by leaving a thin perimeter of bone at the boundary of the bone cut when the boundary of the bone cut is adjacent to a bone surface; wherein the tool path is generated to provide for tool access which complies with the surgical access which is defined by user input during the surgery; and wherein sizing of a surgical opening is reduced according to the following algorithm:
(1) Define a position, P0, which is the center of the surgical opening:(2) For a given tool position at a time t, let the tool center position be P(t) and let the directional vector of the long axis of the tool be V(t), then calculate distance d(t) as follows:
d(t)=|P0−P(t)−(P0−P(t))·V(t)/|V(t)| |where the · means vector dot and | | means vector norm:
(3) The optimized tool path is that which minimizes the maximum d(t) over the entire time.