Robotic system and method for reorienting a surgical instrument

US11639001B2 · kind B2 · utility

Assignee

• Stryker Corporation · US

Inventors

• David Gene Bowling · Los Ranchos de Albuquerque, US
• John Michael Stuart · Rio Rancho, US
• Jerry A. Culp · Kalamazoo, US
• Donald W. Malackowski · Schoolcraft, US
• José Luis Moctezuma de la Barrera · Freiburg (Elbe), DE
• Patrick Roessler · Freiburg im Breisgau, DE
• Joel N. Beer · Albuquerque, US

Key dates

• Filing date: Jun 15, 2021
• Grant date: May 2, 2023
• Expiry date: Oct 20, 2041

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/09
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A robotic system and methods are disclosed. A common axis is defined for an instrument and an energy applicator extending from the instrument. A manipulator has a plurality of links and actuators configured to move the links to position the instrument and energy applicator. A force/torque sensor coupled to the manipulator generates an output in response to forces/torques applied to the instrument. Controller(s) defines a centering point that intersects the common axis. Controller(s) model the instrument and the energy applicator as a virtual rigid body and determine forces/torques to apply to the virtual rigid body, which are determined, in part, based on the output of the force/torque sensor. Controller(s) control the manipulator to advance the energy applicator based on the determined forces/torques applied to the virtual rigid body and reorient the instrument such that the common axis pivots about the centering point during advancement of the energy applicator.