US 12,440,293 B2
Delivery system and method for delivering material to a target site during a medical procedure
John J. Janik, Hudsonville, MI (US); and Robert A. Brindley, Delton, MI (US)
Assigned to Stryker Corporation, Portage, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on Jul. 1, 2022, as Appl. No. 17/855,857.
Application 17/855,857 is a continuation of application No. 16/575,879, filed on Sep. 19, 2019, granted, now 11,406,461.
Application 16/575,879 is a continuation of application No. 15/190,581, filed on Jun. 23, 2016, granted, now 10,492,875, issued on Dec. 3, 2019.
Claims priority of provisional application 62/183,374, filed on Jun. 23, 2015.
Prior Publication US 2022/0331030 A1, Oct. 20, 2022
Int. Cl. A61B 34/32 (2016.01); A61B 17/88 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61M 5/172 (2006.01); A61B 34/10 (2016.01); A61M 5/142 (2006.01)
CPC A61B 34/32 (2016.02) [A61B 17/8805 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 34/76 (2016.02); A61B 90/03 (2016.02); A61B 90/361 (2016.02); A61M 5/172 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2063 (2016.02); A61B 34/25 (2016.02); A61B 2034/301 (2016.02); A61M 5/142 (2013.01); A61M 2205/3334 (2013.01); A61M 2210/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A delivery system for delivering a material to a target site, the delivery system comprising:
a robotic manipulator comprising a plurality of links and one or more joint motors coupled to the plurality of links;
an instrument coupled to the robotic manipulator and comprising a delivery device, the delivery device having a distal tip comprising an opening and being configured to deliver the material to the target site through the opening;
a navigation system being configured to track states of the delivery device and the target site; and
one or more controllers in communication with the robotic manipulator and the navigation system and being configured to:
obtain a virtual model of the target site and a virtual boundary associated with the virtual model, the virtual boundary defining a location at which the material should be delivered relative to the target site and the virtual boundary is configured to provide a constraint on movement of the distal tip relative to the virtual boundary;
register, using the navigation system, the virtual model and the virtual boundary to the target site;
control the one or more joint motors of the robotic manipulator to move the distal tip of the delivery device with respect to the target site; and
detect, using the navigation system, that the distal tip of the delivery device either is, or will, interact with the virtual boundary, and in response, control the one or more joint motors of the robotic manipulator to constrain movement of the distal tip relative to the virtual boundary by moving the distal tip away from the virtual boundary.