US-12626812-B2 - System and method for arranging objects in an operating room in preparation for surgical procedures

Abstract

Systems, methods and software guide arrangement of a robotic system in an operating room. Controller(s) evaluate surgical procedure information and determine a desired placement of the robotic system in the operating room based on evaluation of the surgical procedure information. A localizer determines a current placement of the robotic system in the operating room. A display provides visual representations of the current placement and the desired placement of the robotic system to guide a user on manual placement of the robotic system in the operating room.

Inventors

• José Luis Moctezuma de La Barrera
• Donald W. Malackowski

Assignees

• STRYKER CORPORATION

Dates

Publication Date

20260512

Application Date

20211026

Claims (10)

1. 1 . A system for guiding arrangement of a robotic system in an operating room, the system comprising: one or more controllers comprising a non-transitory computer-readable medium having stored thereon instructions that implement a software module for guiding arrangement of the robotic system in the operating room, the instructions, when executed by the one or more controllers configured to: evaluate surgical procedure information; and determine a desired placement of the robotic system in the operating room based on the evaluation of the surgical procedure information; a localizer configured to determine a current placement of the robotic system in the operating room; and a display disposed in the operating room and being coupled to the one or more controllers, the display being configured to display visual representations of the current placement and the desired placement of the robotic system to guide a user on manual placement of the robotic system in the operating room; wherein the surgical procedure information includes one or more of: an identification of a bone to be treated; an identification of a desired implant to be attached to a bone; and a type of surgical procedure.
2. 2 . The system of claim 1 , wherein the one or more controllers are configured to wirelessly receive the surgical procedure information.
3. 3 . The system of claim 1 , further comprising a guidance station coupled to the localizer and the guidance station is configured to communicate with the one or more controllers and with the robotic system.
4. 4 . The system of claim 3 , wherein the guidance station includes the display.
5. 5 . The system of claim 1 , wherein the robotic system includes a tracking device, and wherein the localizer is configured to determine the current placement of the robotic system by further being configured to determine a position of the tracking device.
6. 6 . The system of claim 1 , wherein the display is configured to display the visual representations of the current placement and the desired placement of the robotic system in an overhead layout.
7. 7 . The system of claim 1 , wherein the display is configured to display a direction in which to move the robotic system in the operating room.
8. 8 . The system of claim 1 , wherein the display is configured to display a visual effect in response to the robotic system reaching the desired placement.
9. 9 . The system of claim 1 , wherein the display is configured to update the visual representation of the current placement of the robotic system in response to movement of the robotic system.
10. 10 . The system of claim 1 , wherein the robotic system is further defined as a robotic cutting system that is configured to cut bone.

Description

RELATED APPLICATIONS This application is continuation of U.S. nonprovisional patent application Ser. No. 16/447,422, filed on Jun. 20, 2019, which is a divisional of U.S. nonprovisional patent application Ser. No. 15/591,343, filed on May 10, 2017, now U.S. Pat. No. 10,410,746, which claims the benefit of U.S. nonprovisional patent application Ser. No. 14/203,663, filed on Mar. 11, 2014, now U.S. Pat. No. 9,652,591, which claims benefit of U.S. Provisional Patent Application Ser. No. 61/779,725, filed on Mar. 13, 2013, the entire contents of each of the aforementioned applications being hereby incorporated by reference. TECHNICAL FIELD The present disclosure relates generally to a system and method for arranging objects in an operating room in preparation for a surgical procedure. BACKGROUND Before starting a surgical procedure, many objects need to be properly arranged in the operating room. Such objects include equipment, the patient, surgical personnel, instruments, and the like. Proper arrangement of these objects in the operating room, before the procedure begins, helps to ensure that the surgical procedure proceeds without unnecessary delays. Traditionally, objects are arranged according to written protocols that may include operating room layouts and written instructions associated with the particular procedure being performed. In some surgical procedures, navigation equipment such as sensing devices (e.g., tracking cameras, magnetic field sensors, etc.) and tracking devices require arrangement before the procedure starts. Navigation systems employ such navigation equipment to assist users in locating objects. For instance, navigation systems assist surgeons in precisely placing surgical instruments relative to a patient's anatomy. Surgeries in which navigation systems are used include neurosurgery and orthopedic surgery. Typically, the instrument and the anatomy are tracked together with their relative movement shown on a display. Navigation systems may employ light signals, sound waves, magnetic fields, RF signals, etc. in order to track the position and/or orientation of objects. Tracking devices are attached to the objects being tracked. A localizer, which includes the sensing devices, cooperates with the tracking devices to determine a position of the tracking devices, and ultimately to determine a position and/or orientation of the objects. The navigation system monitors movement of the objects via the tracking devices. Many navigation systems rely on an unobstructed line-of-sight between the tracking devices and sensing devices. When the line-of-sight is obstructed, signals being transmitted from the tracking devices are not received by the sensing devices. As a result, errors can occur. Typically, in this situation, navigation is discontinued and error messages are conveyed to the user until the line-of-sight returns or the system is reset. This can cause delays to surgical procedures. In other types of navigation systems, such as those that rely on sensing magnetic fields, errors can also occur with respect to placement of the tracking and/or sensing devices. For example, metal in the magnetic field can cause inaccuracies in determining the position and/orientation of objects being tracked. As a result, there is a need in the art for systems and methods to assist in arranging the tracking devices and/or sensing devices to help reduce possible errors. There is also a need in the art to use such systems and methods to arrange other objects in the operating room based on the particular procedure to be performed. SUMMARY In a first aspect, a system is provided for guiding arrangement of a robotic system in an operating room, the system comprising: one or more controllers configured to: evaluate surgical procedure information; and determine a desired placement of the robotic system in the operating room based on evaluation of the surgical procedure information; a localizer configured to determine a current placement of the robotic system in the operating room; and a display disposed in the operating room and being coupled to the one or more controllers, the display being configured to display visual representations of the current placement and the desired placement of the robotic system to guide a user on manual placement of the robotic system in the operating room. In a second aspect, a method is provided for guiding arrangement of a robotic system in an operating room using a localizer, one or more controllers, and a display coupled to the one or more controllers and being disposed in the operating room, the method comprising: evaluating surgical procedure information with the one or more controllers; determining, with the one or more controllers, a desired placement of the robotic system in the operating room based on evaluating the surgical procedure information; determining, with the localizer, a current placement of the robotic system in the operating room; and guiding a user on manual plac