Method and system for guiding user positioning of a robot

Patent metadata

Field	Value
Publication number	US-10864050-B2
Application number	US-201716078336-A
Country	US
Kind code	B2
Filing date	Feb 27, 2017
Priority date	Feb 26, 2016
Publication date	Dec 15, 2020
Grant date	Dec 15, 2020

Abstract

A system and process is provided for dynamically positioning or repositioning a robot in a surgical context based on workspace and task requirements, manipulator requirements, or user preferences to execute a surgical plan. The system and method accurately determines and indicates an optimal position for a robot with respect to a patient's anatomy before or during a surgical procedure. Optimal positions for a robot are intuitively indicated to a user, surgical procedures can illustratively include surgery to the knee joint, hip joint, spine, shoulder joint, elbow joint, ankle joint, jaw, a tumor site, joints of the hand or foot, and other appropriate surgical sites.

First claim

The invention claimed is:

1. A robotic surgical system operating on a floor comprising:
a computer assisted surgical robot having a base;
an end effector tool projecting from said computer-assisted surgical robot;
fiducial marker arrays and an optical tracking system for tracking or navigating said end effector relative to a subject bone;
a surgical plan of operations to be performed on the subject bone;
a laser, a 2-D image, or image projector to project an image of a desired position for the base of said computer-assisted surgical robot on the floor to comply with at least one operation of said surgical plan of operations; and
a software module for executing an optimization algorithm to determine the desired position using two or more inputs, wherein the inputs are selected from the group consisting of: a position of the subject bone; a position of the at least one operation to be performed on the subject bone; a robot kinematic model; a position of the robot; or a position defined by a user relative to the subject bone.

2. The robotic surgical system of claim 1 wherein the surgical plan of operations includes a cut-file of operations, a virtual boundary constraint of operations, or a graphically navigated set of operations.

3. The robotic surgical system of claim 1 wherein all physical points dictated in said surgical plan of operations are reachable by said end effector tool when the moveable base is positioned at the desired position.

4. The robotic surgical system of claim 1 further comprising a laser distance measurement sensors (LIDARS) and machine vision.

5. The robotic surgical system of claim 1 further comprising an augmented reality device to display the desired position.

6. A robotic surgical system operating on a floor comprising:
a computer assisted surgical robot having a base;
an end effector tool projecting from said robot;
fiducial marker arrays and an optical tracking system for tracking or navigating said end effector relative to a subject bone;
a surgical plan of operations to be performed on the subject bone;
a laser, a 2-D image, or image projector to project an image of a desired position for the base of said robot on the floor to comply with at least one operation of said surgical plan of operations; and
autonomous robot algorithms to navigate the base to the desired position.

7. The robotic surgical system of claim 6 further comprising a software module for executing an optimization algorithm to determine the desired position using two or more inputs, wherein the inputs are selected from the group consisting of: a position of the subject bone; a position of the at least one operation to be performed on the subject bone; a robot kinematic model; a position of the robot; or a position defined by a user relative to the subject bone.

8. The robotic surgical system of claim 6 wherein the surgical plan of operations includes a cut-file of operations, a virtual boundary constraint of operations, or a graphically navigated set of operations.

9. The robotic surgical system of claim 6 wherein all physical points dictated in said surgical plan of operations are reachable by said end effector tool when the moveable base is positioned at the desired position.

10. The robotic surgical system of claim 6 further comprising a laser distance measurement sensors (LIDARS) and machine vision.

11. The robotic surgical system of claim 6 further comprising an augmented reality device to display the desired position.

12. A robotic surgical system operating on a floor comprising:
a computer assisted surgical robot having a base on a first position on the floor;
an end effector tool projecting from said computer-assisted surgical robot;
fiducial marker arrays and an optical tracking system for tracking or navigating said end effector relative to a subject bone;
a surgical plan of operations to be performed on the subject bone;
a laser, a 2-D image, or image projector to project an image of a desired second position for the base of said computer-assisted surgical robot, wherein the projected image is on the floor to comply with at least one operation of said surgical plan of operations; and
a software module for executing an optimization algorithm to determine the desired position using two or more inputs, wherein the inputs are selected from the group consisting of: a position of the subject bone; a position of the at least one operation to be performed on the subject bone; a robot kinematic model; a position of the robot; or a position defined by a user relative to the subject bone.

13. The robotic surgical system of claim 12 wherein the surgical plan of operations includes a cut-file of operations, a virtual boundary constraint of operations, or a graphically navigated set of operations.

14. The robotic surgical system of claim 12 wherein all physical points dictated in said surgical plan of operations are reachable by said end effector tool when the moveable base is positioned at the desired position.

15. The robotic surgical system of claim 12 further comprising a laser distance measurement sensors (LIDARS) and machine vision.

16. The robotic surgical system of claim 12 further comprising an augmented reality device to display the desired position.

Assignees

• Think Surgical Inc

Inventors

• Tabandeh Saleh
• Zuhars Joel
• Bonny Daniel Patrick
• Pack Timothy
• Hanson Randall
• Hoppe Michael
• Netravali Nathan A

Classifications

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title

• A61B2034/108

  Computer aided selection or customisation of medical implants or cutting guides · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title

• A61B2034/104

  Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring · CPC title

• A61B34/30

  Surgical robots · CPC title