Surgical guidance system and method

Abstract

A surgical system includes a surgical device, a surgical tool coupled to the surgical device, a user interface, and a control system. The control system is configured to identify a target point or target region of an anatomy of a patient, generate a virtual object based on the target point or target region, the virtual object comprising a funnel-shaped boundary having a central axis substantially aligned with the target point or target region, and control the surgical device to constrain the surgical tool from penetrating the funnel-shaped boundary.

What is claimed is: 
     
         1 . A surgical system, comprising:
 a surgical device;   a surgical tool coupled to the surgical device;   a user interface; and   a control system configured to:
 identify a target point or target region of an anatomy of a patient; 
 generate a virtual object based on the target point or target region, the virtual object comprising a funnel-shaped boundary having a central axis substantially aligned with the target point or target region; and 
 control the surgical device to constrain the surgical tool from penetrating the funnel-shaped boundary. 
   
     
     
         2 . The system of  claim 1 , wherein the user interface is located on the surgical device to enable physical interaction between the user and the surgical device. 
     
     
         3 . The system of  claim 2 , wherein the control system is further configured to:
 control the surgical device with admittance control by moving the surgical tool in response to force input from a user at the user interface; and   constrain the surgical tool from penetrating the funnel-shaped boundary by controlling the surgical device with the admittance control to provide haptic guidance to the user based on a relationship between the funnel-shaped boundary and the surgical tool.   
     
     
         4 . The system of  claim 1 , further comprising a tracking system for monitoring a three-dimensional position of the anatomy to detect a movement of the anatomy during a procedure, and wherein the control system is further configured to modify a three-dimensional position of the target point or target region or a three-dimensional position of the funnel-shaped boundary based on the movement of the anatomy. 
     
     
         5 . The system of  claim 4 , wherein the control system is further configured to modify the three-dimensional position of the target region or the three-dimensional position of the funnel-shaped boundary based on the movement of the anatomy to maintain a location of the target region relative to the anatomy or a location of the funnel-shaped boundary relative to the anatomy. 
     
     
         6 . The system of  claim 1 , further comprising a tracking system for monitoring a three-dimensional position of the anatomy to detect a movement of the anatomy during a procedure; and wherein the control system is further configured to control the surgical device to compensate for the movement of the anatomy. 
     
     
         7 . The system of  claim 1 , further comprising a tracking system for monitoring a three-dimensional position of the anatomy, the tracking system comprising a jointed mechanical arm. 
     
     
         8 . The system of  claim 7 , wherein the tracking system further comprises:
 a fixation device coupled to a first end of the jointed mechanical arm and coupleable to the anatomy; and   a base coupled to a second end of the jointed mechanical arm.   
     
     
         9 . The system of  claim 8 , wherein the joint mechanical arm is configured to generate electronic signals indicative of the three-dimensional position of the anatomy. 
     
     
         10 . The system of  claim 1 , wherein at least a portion of the virtual object represents a portion of material to be removed from the anatomy. 
     
     
         11 . The system of  claim 1 , wherein a shape of at least a portion of the virtual object substantially corresponds to a shape of an implant to be fitted to the anatomy. 
     
     
         12 . The system of  claim 1 , wherein the funnel-shaped boundary provides a pathway from a first position to a second position. 
     
     
         13 . The system of  claim 1 , wherein the control system is further configured to:
 activate the funnel-shaped boundary to constrain the surgical tool along the pathway; and   deactivate the funnel-shaped boundary to enable the surgical too to deviate from the pathway.   
     
     
         14 . The system of  claim 1 , further comprising a graphical user interface for displaying a representation of the surgical tool relative to a representation of the anatomy. 
     
     
         15 . The system of  claim 14 , wherein displaying a representation of the surgical tool relative to a representation of the anatomy comprises displaying depth information based on a position of the surgical tool relative to the anatomy. 
     
     
         16 . The system of  claim 15 , wherein the depth information comprises a one-dimensional distance from a tip of the surgical tool to a predefined depth. 
     
     
         17 . The system of  claim 1 , wherein the control system is further configured to limit travel of the surgical tool to a predefined depth relative to the anatomy. 
     
     
         18 . A surgical system, comprising:
 a surgical device;   a surgical tool coupled to the surgical device; and   a control system configured to:
 control the surgical device with admittance control to move the surgical tool in response to force input from a user at a user interface; 
 control the surgical device with the admittance control to provide haptic guidance to the user based on a relationship between an anatomy of a patient and the surgical tool; 
 monitor a three-dimensional position of the anatomy to detect a movement of the anatomy during a procedure; and 
 modify the admittance control based on the movement of the anatomy. 
   
     
     
         19 . The system of  claim 18 , wherein the control system is further configured to operate the surgical device in a free mode in which the surgical tool is freely moveable relative to the anatomy. 
     
     
         20 . The system of  claim 19 , wherein operating the surgical device in the free mode comprises controlling motors of the surgical device to counteract gravitational loads. 
     
     
         21 . The system of  claim 19 , wherein operating the surgical device in the free mode comprises deactivating power to the surgical tool. 
     
     
         22 . The system of  claim 18 , wherein the control system is further configured to associate a virtual object with the anatomy. 
     
     
         23 . The system of  claim 22 , wherein associating the virtual object with the anatomy is further defined as associating a guide line with the anatomy to guide movement of the surgical tool relative to the anatomy along the guide line. 
     
     
         24 . The system of  claim 22 , wherein the virtual object comprises a funnel-shaped boundary. 
     
     
         25 . The system of  claim 22 , wherein the control system is further configured to adjust the virtual object in response to detecting movement of the anatomy during the procedure. 
     
     
         26 . The system of  claim 22 , wherein controlling the surgical device with the admittance control to provide haptic guidance includes constraining the surgical tool from penetrating at least a portion of the virtual object. 
     
     
         27 . The system of  claim 22 , wherein at least a portion of the virtual object represents a portion of material to be removed from the anatomy. 
     
     
         28 . The system of  claim 22 , wherein a shape of at least a portion of the virtual object substantially corresponds to a shape of an implant to be fitted to the anatomy. 
     
     
         29 . The system of  claim 22 , wherein the virtual object represents a pathway from a first position to a second position. 
     
     
         30 . The system of  claim 29 , wherein the control system is further configured to activate the virtual object so that movement of the surgical tool is constrained along the pathway. 
     
     
         31 . The system of  claim 18 , wherein the control system is further configured to communicate, through the haptic guidance, information to the user manipulating the surgical tool regarding a position of the surgical tool relative to at least one of: a virtual boundary associated with the anatomy, a parameter relative to the anatomy, or the anatomy.