ROBOTIC SYSTEMS FOR MANIPULATING A CUTTING GUIDE FOR A SURGICAL INSTRUMENT

Abstract

A robotic surgery system (10) is described for use with a free-hand surgical instrument (40, 42) to perform a surgical procedure on a patient, wherein the free-hand surgical instrument (40, 42) includes a cutting tool (40). The robotic surgery system (10) comprises a robotic manipulator (22), an end effector (36) including a cutting guide (38) to be coupled to the robotic manipulator (22), the cutting guide (38) configured to guide the cutting tool (40) so that the cutting tool (40) cuts tissue of the patient, a control system (34, 48, 62) (34, 48, 62) coupled to the robotic manipulator (22) to control a location of the cutting guide (38) relative to the tissue, and a navigation system (14) including a tool tracker (18) to track a position and orientation of the cutting tool (40) relative to a patient-specific cutting boundary (PSCB) (PSCB) associated with the tissue, wherein the patient-specific cutting boundary (PSCB) is customized for the patient based on a virtual model associated with the tissue of the patient. The control system (34, 48, 62) is configured to generate feedback in response to interaction between the cutting tool (40) and the patient-specific cutting boundary (PSCB) when the cutting tool (40) cooperates with the cutting guide (38) to cut the tissue.

Inventors

KANG, HYOSIG
OTTO, JASON KARL
HARROW, Matthew

Assignees

Mako Surgical Corp.

Dates

Publication Date: 20260513
Application Date: 20200410