US 12,114,932 B2
Method and system for guiding position and orientation of a robotic device holding a surgical tool
Stéphane Lavallee, St. Martin d'Uriage (FR); Daniel Girardeau-Montaut, Gieres (FR); Claire Baegert, Gieres (FR); and Nicolas Demanget, Gieres (FR)
Assigned to DePuy Ireland Unlimited Company, Ringaskiddy (IE)
Filed by DePuy Ireland Unlimited Company, Ringaskiddy (IE)
Filed on Oct. 14, 2020, as Appl. No. 17/070,459.
Claims priority of application No. 19203494 (EP), filed on Oct. 16, 2019.
Prior Publication US 2021/0113270 A1, Apr. 22, 2021
Int. Cl. A61B 34/10 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/10 (2016.02) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 2034/104 (2016.02); A61B 2034/107 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical system, comprising:
a robotic device comprising a base and an actuation unit coupled to the base and configured to move a surgical tool relative to the base;
a localization system configured to determine relative position and orientation of the tool and an anatomical structure of a patient; and
a control unit configured to:
generate virtual representations of a target region on the anatomical structure according to a treatment plan, a base axis associated with the tool, and a goal representing a spatial range of position and orientation of the robotic device allowing a distal tip of the tool to work in the target region, wherein the virtual goal representation is not generated until after the tool tip is detected in the target region;
change a visual aspect of the virtual target region in response to the tool tip being detected in the target region; and
change a visual aspect of the virtual goal in response to the virtual base axis aligning inside the virtual goal as a user changes position and orientation of the robotic device while maintaining the tool tip in the target region.