Systems and Methods for Establishing Virtual Constraint Boundaries

摘要

Systems and methods for establishing and tracking virtual boundaries. The virtual boundaries can delineate zones in which an instrument is not permitted during a surgical procedure. The virtual boundaries can also delineate zones in which the surgical instrument is permitted during the surgical procedure. The virtual boundaries can also identify objects or structures to be treated by the instrument or to be avoided by the instrument during the surgical procedure.

主权项

1. A surgical system for use with a plurality of virtual boundaries, said system comprising:
an instrument; an instrument tracking device to track movement of said instrument; a first boundary tracking device to track movement of a first of the plurality of virtual boundaries wherein the first virtual boundary is associated with anatomy to be treated by said instrument; a second boundary tracking device to track movement of a second of the plurality of virtual boundaries wherein the second virtual boundary is associated with an object to be avoided by said instrument; and a controller configured to receive information associated with said tracking devices including positions of said instrument relative to the first and second virtual boundaries, said controller configured to guide movement of said instrument relative to each of the first and second virtual boundaries as the first and second virtual boundaries move relative to one another.