Systems and methods for navigation and control of an implant positioning device

Abstract

Systems and methods for navigation and control of an implant positioning device are discussed. For example, a method can include operations for accessing an implant plan, establishing a 3-D coordinate system, receiving tracking information, generating control signals, and sending the control signals to the implant positioning device. The implant plan can include location and orientation data describing an ideal implant location and orientation in reference to an implant host. The 3-D coordinate system can provide spatial orientation for the implant positioning device and the implant host. The tracking information can identify current location and orientation data within the 3-D coordinate system for the implant positioning device and implant host during a procedure. The control signals can control operation of the implant positioning device to assist a surgeon in positioning the implant according to the implant plan.

1 .- 38 . (canceled) 
     
     
         39 . A method of knee replacement using an implant positioning device having a positioning arm and an end effector coupled to the positioning arm, the method comprising:
 accessing a surgical plan for positioning an implant in a target knee;   tracking a target knee position using at least one of a tibia tracking device and a femur tracking device;   tracking an end effector position of the end effector;   generating a control signal based on tracking the target knee position and the end effector position, and the surgical plan;   moving the end effector based on the control signal; and   allowing an operator to manually manipulate the end effector.   
     
     
         40 . The method of  claim 39 , further comprising:
 determining, at a control circuit, one or more parameters for the implant positioning device;   wherein generating the control signal comprises generating the control signal at the control circuit based on the one or more parameters.   
     
     
         41 . The method of  claim 40 , wherein determining the one or more parameters comprises determining one or more of an amplitude of impact, a frequency of impact, and a duration of impact. 
     
     
         42 . The method of  claim 40 , wherein determining the one or more parameters comprises determining extension parameters for the implant positioning device, wherein the extension parameters comprise a distance to extend the end effector of the implant positioning device. 
     
     
         43 . The method of  claim 40 , wherein determining the one or more parameters comprises determining one or more of a location and an angle at which the implant positioning device is directed to move the end effector. 
     
     
         44 . The method of  claim 40 , wherein determining the one or more parameters comprises determining release parameters for the implant positioning device. 
     
     
         45 . The method of  claim 40 , further comprising:
 receiving, at the control circuit, a location of an implant component and an orientation of the implant component.   
     
     
         46 . The method of  claim 45 , wherein determining the one or more parameters comprises determining the one or more parameters based on the location of the implant component and the orientation of the implant component. 
     
     
         47 . The method of  claim 45 , further comprising:
 providing feedback to the operator regarding the location of the implant component and the orientation of the implant component.   
     
     
         48 . The method of  claim 39 , further comprising:
 retaining an implant component in a retaining device coupled to the end effector.   
     
     
         49 . The method of  claim 39 , further comprising:
 inducing a rotational motion on an implant component during insertion.