Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path

US9226796B2 · 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
• Patrick Roessler · Freiburg im Breisgau, DE
• Joel N. Beer · Albuquerque, US
• John Ketchel · Kalamazoo, US
• José Luis Moctezuma de la Barrera · Freiburg (Elbe), DE

Key dates

• Filing date: Mar 13, 2014
• Grant date: Jan 5, 2016
• Expiry date: Mar 13, 2034

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/45117
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A method is provided for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path. The method includes determining actual torques for each active joint of an actuated arm mechanism and calculating expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint. The method further determines estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path.