US-12616523-B2 - Surgeon preferences and warning visualizations for implant planning

US12616523B2US 12616523 B2US12616523 B2US 12616523B2US-12616523-B2

Abstract

A method for controlling a robotic system to facilitate a joint arthroplasty procedure includes generating a graphical user interface comprising a visualization of an implant plan and an indication of a user-defined value for an implant planning parameter, and comparing the user-defined value for the implant planning parameter to the range. The method includes providing a marking at the indication of the user-defined value on the graphical user interface and receiving an update to the implant plan, wherein the update to the implant plan causes a change in the user-defined value. The method further includes determining that the change in the user-defined value moved the user-defined value to within the selected preferred range.

Inventors

Lizeth Joann Caldera
Jason Otto
Morgan Fitzgerald
Milan Ikits
Ajeet Singh Yadav
Arun Shreedhar
Kevin Froster
Christine Perrone
Ta-Cheng Chang

Assignees

MAKO SURGICAL CORP.

Dates

Publication Date: 20260505
Application Date: 20211029

Claims (20)

1 . A method for controlling a robotic system to facilitate a joint arthroplasty procedure, comprising: planning the joint arthroplasty procedure by: providing a graphical user interface comprising a visualization of a bone model and a planned pose for an implant relative to the bone model; in response to determining that a value descriptive of the planned pose for the implant relative to the bone model is outside a range for the value set via a surgeon preferences page of the graphical user interface, providing a marking on the graphical user interface; removing the marking in response to an update to the planned pose for the implant relative to the bone model, wherein the update moves the value to within the range; providing the joint arthroplasty procedure by: facilitating the joint arthroplasty procedure by controlling the robotic system based on the planned pose; and physically installing, during the joint arthroplasty procedure, the implant on a bone in the planned pose.
2 . The method of claim 1 , wherein the value descriptive of the planned pose describes a rotation of the planned pose, and wherein the range indicates acceptable amounts of rotation.
3 . The method of claim 1 , further comprising providing the graphical user interface with an additional marking in response to an additional value descriptive of the planned pose being outside an additional range for the additional value.
4 . The method of claim 3 , wherein the graphical user interface comprises an indication of the value, and wherein the marking is a box around the value.
5 . The method of claim 4 , further comprising providing, on the graphical user interface, text describing violation of the range by the value.
6 . The method of claim 1 , wherein the visualization of the planned pose comprises a graphical representation of an implant positioned relative to a bone, and receiving the update to the planned pose comprises: automatically identifying a first rotation point based on a first landmark positioned on the graphical representation of the implant; providing a first hotkey indicator at the first rotation point, the first hotkey indicator showing a first key to be pressed to select the first rotation point; receiving a signal indicative of a press of the first key by the user; and allowing the user to rotate the graphical representation of the implant about the first rotation point.
7 . The method of claim 6 , further comprising: automatically identifying a second rotation point based on a second landmark positioned on the graphical representation of the implant; providing a second hotkey indicator at the second rotation point, the second hotkey indicator showing a second key to be pressed to select the second rotation point; wherein the first hotkey indicator and the second hotkey indicator are different, and wherein the first hotkey indicator is always in the same position relative to the second hotkey indicator.
8 . The method of claim 1 , wherein further comprising causing the graphical user interface to provide the surgeon preferences page, the surgeon preferences page configured to allow a user to set the range and a plurality of additional ranges.
9 . The method of claim 8 , wherein the surgeon preferences page comprises buttons selectable to adjust numerical values defining the range and the plurality of additional ranges.
10 . A system for facilitating a joint arthroplasty procedure, comprising: a robotic device configured to perform the joint arthroplasty procedure; a computer system in communication with the robotic device, the computer system comprising a processor and a memory device, the memory device containing instructions that, when executed by the processor, cause the processor to: generate a graphical user interface comprising a visualization of a bone model and an implant in a planned pose relative to the bone model; identify at least a first warning by comparing the planned pose to a plurality of criteria associated with a plurality of types of warnings; identify a particular symbol associated with the first warning from a plurality of symbols associated with the plurality of types of warnings; provide the particular symbol on the graphical user interface such that the particular symbol overlays the visualization of the implant at a position associated with violation of a first criteria of the plurality of criteria associated with the first warning; receive, from the graphical user interface, an update to the planned pose, wherein the update resolves the first warning; and control the robotic device based on the update to the planned pose such that the robotic device assists completion of the joint arthroplasty procedure consistent with the update to the implant plan.
11 . The system of claim 10 , wherein the processor is further caused to remove the particular symbol from the graphical user interface upon determining that the update to the planned pose resolved the first warning.
12 . The system of claim 10 , wherein the plurality of types of warnings comprise a notching warning, an airball warning, and an overhang warning.
13 . The system of claim 10 , wherein the plurality of types of warnings comprise a checkpoint warning, wherein the processor is further caused to compare the planned pose to a checkpoint criterion associated with the checkpoint warning by determining a distance between a cut plane associated with the planned pose and a position of a checkpoint on the bone model.
14 . The system of claim 10 , wherein the instructions further cause the processor, upon selection of first text associated with the first warning via the graphical user interface, to cause the first symbol to be emphasized on the graphical user interface.
15 . The system of claim 10 , wherein the processor is further caused to: automatically identify a first rotation point at a first landmark of the implant or the bone model; provide a first hotkey indicator at the first rotation point, the first hotkey indicator showing a first key to be pressed to select the first rotation point; receive a signal indicative of a press of the first key by the user; and allow the user to rotate the visualization of the implant about the first rotation point.
16 . The system of claim 15 , wherein the processor is further caused to: automatically identify a second rotation point based on a second landmark of the implant or the bone model; provide a second hotkey indicator at the second rotation point, the second hotkey indicator showing a second key to be pressed to select the second rotation point; wherein the first hotkey indicator and the second hotkey indicator are different, and wherein the first hotkey indicator is always in a same position relative to the second hotkey indicator.
17 . A navigation system, comprising: a surgical instrument; a tracking system configured to track a position of the surgical instrument; and a controller programmed to: generate a graphical user interface comprising a visualization of an implant plan comprising a graphical representation of an implant positioned relative to a bone; receive, from the graphical user interface, an update to the implant plan, wherein the update to the implant plan by: automatically identifying a first rotation point based on a first landmark positioned on the graphical representation of the implant; providing a first hotkey indicator at the first rotation point, the first hotkey indicator showing a first key to be pressed to select the first rotation point; receiving a signal indicative of a press of the first key by the user; and allowing, in response to the signal, the user to rotate the graphical representation of the implant about the first rotation point; and facilitate a joint arthroplasty procedure by providing feedback guiding the surgical instrument to a location associated with the update to the implant plan based on the position of the surgical instrument as tracked by the tracking system.
18 . The system of claim 17 , wherein the implant plan comprises a planned pose for the implant, and wherein the controller is further programmed to: provide a marking on the graphical user interface in response to determining that a value descriptive of the planned pose is outside a user-defined range for the value set via a surgeon preferences page of the graphical user interface; and remove the marking in response to the update to the planned pose moving the value to within the user-defined range.
19 . The system of claim 18 , wherein the value descriptive of the planned pose describes a resection depth associated with the planned pose, and wherein the range indicates maximum and minimum resection depths.
20 . The system of claim 18 , wherein a first the marking is associated with a box around the value as displayed on the graphical user interface.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of and priority to U.S. Provisional Patent Application No. 63/125,468 filed Dec. 15, 2020, U.S. Provisional Patent Application No. 63/177,034 filed Apr. 20, 2021, and U.S. Provisional Patent Application No. 63/226,858 filed Jul. 29, 2021, the entire disclosures of which are incorporated by reference herein. BACKGROUND The present disclosure relates generally to surgical systems for orthopedic surgeries, for example surgical systems that facilitate joint replacement procedures. Joint replacement procedures (arthroplasty procedures) are widely used to treat osteoarthritis and other damage to a patient's joint by replacing portions of the joint with prosthetic components. Joint replacement procedures can include procedures to replace hips, knees, shoulders, or other joints with one or more prosthetic components. One possible tool for use in an arthroplasty procedure is a robotically-assisted surgical system. A robotically-assisted surgical system typically includes a robotic device that is used to prepare a patient's anatomy to receive an implant, a tracking system configured to monitor the location of the robotic device relative to the patient's anatomy, and a computing system configured to monitor and control the robotic device. Robotically-assisted surgical systems, in various forms, autonomously carry out surgical tasks, provide force feedback to a user manipulating a surgical device to complete surgical tasks, augment surgeon dexterity and precision, and/or provide other navigational cues to facilitate safe and accurate surgical operations. A surgical plan is typically established prior to performing a surgical procedure with a robotically-assisted surgical system. Based on the surgical plan, the surgical system guides, controls, or limits movements of the surgical tool during portions of the surgical procedure. Guidance and/or control of the surgical tool serves to assist the surgeon during implementation of the surgical plan. Various features enabling improved planning, improved intra-operative assessments of the patient biomechanics, intraoperative plan adjustments, etc. for use with robotically-assisted surgical systems or other computer-assisted surgical systems may be advantageous. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a femur prepared to receive an implant component, according to an exemplary embodiment. FIG. 2 is an illustration of a surgical system, according to an exemplary embodiment. FIG. 3 is a flowchart of a first process that can be executed by the surgical system of FIG. 2, according to an exemplary embodiment. FIG. 4 is a flowchart of a second process that can be executed by the surgical system of FIG. 2, according to an exemplary embodiment. FIG. 5 is an illustration of a surgeon preference selection interface, according to an exemplary embodiment. FIG. 6 is an illustration of another surgeon preference selection interface, according to an exemplary embodiment. FIG. 7 is an illustration of yet another surgeon preference selection interface, according to an exemplary embodiment. FIG. 8 is an illustration of yet another surgeon preference selection interface, according to an exemplary embodiment. FIG. 9 is an illustration of a surgical planning interface providing warnings, according to an exemplary embodiment. FIG. 10 is an illustration of the surgical planning interface of FIG. 9 providing additional warnings, according to an exemplary embodiment. FIG. 11 is an illustration of another embodiment of the surgical planning interface of FIG. 9 providing further warnings, according to an exemplary embodiment. FIG. 12 is an illustration of another embodiment of the surgical planning interface of FIG. 9 providing more warnings, according to an exemplary embodiment. FIG. 13 is an illustration of a table showing various icons that correspond to warnings, according to an exemplary embodiment. FIG. 14 is an illustration of another surgical planning interface providing selectable warnings, according to an exemplary embodiment. FIG. 15 is a flowchart of a process to generate warnings during an implant planning process, according to an exemplary embodiment. FIG. 16 is an illustration of an interface including preset anchor points, according to an exemplary embodiment. FIG. 17 is a flowchart of a process to rotate an implant about a selected anchor point, according to an exemplary embodiment. FIG. 18 is an illustration of an alignment interface, according to an exemplary embodiment. FIG. 19 is an illustration of a joint balancing interface, according to an exemplary embodiment. SUMMARY A method for controlling a robotic system to facilitate a joint arthroplasty procedure includes generating a graphical user interface comprising a visualization of an implant plan and an indication of a user-defined value for an implant planning parameter, and comparing the user-defined value for the implant planning p