Surgical robot platform

Patent metadata

Field	Value
Publication number	US-10835328-B2
Application number	US-201715704636-A
Country	US
Kind code	B2
Filing date	Sep 14, 2017
Priority date	Jun 21, 2012
Publication date	Nov 17, 2020
Grant date	Nov 17, 2020

Abstract

A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element.

First claim

What is claimed is:

1. A method for automatically maintaining an end effectuator of a surgical robot on a planned trajectory to a surgical site, said method comprising:
receiving data indicative of a position of the end effectuator in a robot coordinate system, wherein the position is about an orientation axis associated with the end effectuator;
accessing data indicative of one or more joints of the surgical robot;
accessing a current camera position of the end effectuator on the planned trajectory, wherein the current position is represented in a camera coordinate system;
calculating an orientation of the end effectuator in the robot coordinate system;
calculating a position of the end effectuator in the robot coordinate system;
determining a line defining the planned trajectory in the robot coordinate system; and
locking a position of the end effectuator on the planned trajectory,
wherein the surgical robot includes a base, and a robot arm configured to be coupled to the end effectuator,
wherein the robot arm is configured to independently move the end effectuator along the x, y, and z axes and configured for selective rotation about one of the x, y, and z axes, and wherein the robot arm does not provide six degrees of freedom,
wherein the robot arm is configured to move on a cartesian positioning system, wherein movements of the robot arm occur in different axes independently of one another.

2. The method of claim 1 , further comprising supplying information indicative of the locked position of the surgical robot.

3. The method of claim 2 , further comprising determining whether a surgical procedure is finished.

4. The method of claim 1 , wherein supplying information includes providing aural indicia.

5. The method of claim 3 , wherein the planned trajectory is generated by an operator.

6. The method of claim 5 , wherein the planned trajectory is retained in a memory of a computing device.

7. The method of claim 6 , wherein data indicative of each of the one or more joints of the surgical robot includes an encoder count from each axis motor of the surgical robot.

8. The method of claim 1 , further comprising displaying the planned trajectory on a display associated with the surgical robot.

9. A method for automatically maintaining an end effectuator of a surgical robot on a planned trajectory, the surgical robot comprising a display and a housing, wherein the housing further comprises a robot arm and the end effectuator, said method comprising:
receiving data indicative of an orientation position of the end effectuator in a robot coordinate system, wherein the orientation position is about an orientation axis associated with the end effectuator;
accessing data indicative of one or more joints of the surgical robot;
accessing a current camera position of the end effectuator of the surgical robot on the planned trajectory, wherein the current position is represented in a camera coordinate system;
calculating an orientation of the end effectuator in the robot coordinate system;
calculating a position of the end effectuator in the robot coordinate system;
determining a line defining the planned trajectory of the end effectuator in the robot coordinate system; and
locking a position of the end effectuator of the surgical robot on the planned trajectory,
wherein the robot arm is configured to independently move the end effectuator along the x, y, and z axes and configured for selective rotation about one of the x, y, and z axes, and wherein the robot arm does not provide six degrees of freedom,
wherein the planned trajectory is a trajectory to a pedicle portion of the spine
wherein the robot arm is configured to move on a cartesian positioning system, wherein movements of the robot arm occur in different axes independently of one another.

10. The method of claim 9 , further comprising supplying information indicative of the locked position of the end effectuator of the surgical robot.

11. The method of claim 10 , further comprising determining whether a surgical procedure is finished.

12. The method of claim 11 , wherein the planned trajectory is generated by an operator.

13. The method of claim 12 , wherein the planned trajectory is retained in a memory of a computing device.

14. The method of claim 13 , wherein data indicative of each of the one or more joints of the surgical arm includes an encoder count from each axis motor of the surgical robot.

15. The method of claim 9 , wherein supplying information includes providing aural indicia.

16. The method of claim 9 , further comprising displaying the planned trajectory on the display.

Assignees

• Globus Medical Inc

Inventors

• Crawford Neil R
• Theodore Nicholas
• Foster Mitchell A

Classifications

• A61B90/98

  using electromagnetic means, e.g. transponders · CPC title

• A61B90/11

  with guides for needles or instruments, e.g. arcuate slides or ball joints · CPC title

• A61B17/17

  Guides {or aligning means} for drills {, mills, pins or wires} · CPC title

• A61B5/064

  using markers (A61B5/062 takes precedence) · CPC title

• A61B2090/0811

  for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument · CPC title