Surgical robotic systems and methods thereof

Patent metadata

Field	Value
Publication number	US-10973594-B2
Application number	US-201816047202-A
Country	US
Kind code	B2
Filing date	Jul 27, 2018
Priority date	Sep 14, 2015
Publication date	Apr 13, 2021
Grant date	Apr 13, 2021

Abstract

An automated medical system and method for using the automated medical system. The automated medical system may comprise a robot support system. The robot support system may comprise a robot body. The robot support system may further comprise a selective compliance articulated robot arm coupled to the robot body and operable to position a tool at a selected position in a surgical procedure. The robot support system may further comprise an activation assembly operable to transmit a move signal to the selective compliance articulated robot arm allowing an operator to move the selective compliance articulated robot arm. The automated medical system may further comprise a camera tracking system and an automated imaging system.

First claim

What is claimed is:

1. An automated medical system, comprising:
a robot support system, wherein the robot support system comprises:
a robot body,
a selective compliance articulated robot arm coupled to the robot body and operable to position a tool at a selected position in a surgical procedure; and
an activation assembly operable to transmit a move signal to the selective compliance articulated robot arm allowing an operator to move the selective compliance articulated robot arm;

a camera tracking system having a camera and a curved rail, wherein the camera is moveably disposed along the curved rail; and
an automated imaging system.

2. The automated medical system of claim 1 , wherein the selective compliance articulated robot arm comprises a robot telescoping arm coupled to the robot body and operable to rise and lower in a vertical direction, a robot support arm coupled to and rotatable about the robot telescoping arm, and a robot arm coupled to the robot support arm.

3. The automated medical system of claim 1 , wherein the robot support system further comprises an end effector coupled to a distal end of the selective compliance articulated robot arm, wherein the end effector is operable to couple a surgical tool to the robot support system.

4. The automated medical system of claim 1 , wherein the activation assembly comprises a primary button.

5. The automated medical system of claim 4 , wherein the activation assembly further two or more primary activation switches activated by the primary button, wherein depression of at least two of the primary activation switches is required for the operator to move the selective compliance articulated robot arm in response to the move signal.

6. The automated medical system of claim 1 , wherein the camera tracking system is configured to send a stop signal to the robot support system if the camera is obstructed from viewing one or more dynamic reference arrays.

7. The automated medical system of claim 1 , wherein the automated imaging system comprises a gantry arm.

8. The automated medical system of claim 7 , wherein the gantry arm comprises a main arm, an imaging arm, and an imaging device.

9. The automated medical system of claim 8 , wherein the gantry arm rotates the imaging device around a patient.

10. The automated medical system of claim 1 , wherein the camera tracking system is coupled to the robot support system.

11. A method of using an automated medical system in a medical procedure comprising:
moving the automated medical system into a room;
detaching a camera tracking system from a robot support system;
disposing the camera tracking system adjacent a patient;
disposing the robot support system adjacent the patient;
maneuvering a selective compliance articulated robot arm;
guiding the selective compliance articulated robot arm to a programmed location with a gravity well; and
autonomously moving a camera of the camera tracking system around an obstruction.

12. The method of claim 11 , further comprising tracking the selective compliance articulated robot arm with the camera tracking system while the selective compliance articulated robot arm is guided to the programmed location.

13. The method of claim 11 , wherein the camera moves along a curved rail on the camera tracking system.

14. The method of claim 11 , further comprising depressing a primary button on an activation assembly to allow movement of the selective compliance articulated robot arm by an operator.

15. The method of claim 14 , wherein movement of the selective compliance articulated robot arm is allowed by depressing a primary button that activates at least two primary activation switches.

16. The method of claim 11 , wherein the selective compliance articulated robot arm resists leaving the gravity well as it is guided to the programmed location.

17. The method of claim 16 , wherein a medical operation has a plurality of gravity wells.

18. The method of claim 11 , wherein the method further comprises:
moving an automated imaging system into a room;
placing the automated imaging system adjacent to a patient;
activating the automated imaging system;
imaging the patient; and
transferring the images to the automated medical system.

19. The method of claim 18 , wherein the automated imaging system comprises:
an imaging system base;
at least one omni directional wheel; and
a gantry, wherein the gantry further comprises a main arm, an imaging arm, and an imaging device.

Assignees

• Globus Medical Inc

Inventors

• Crawford Neil R
• Johnson Norbert
• Moulton Timothy
• Judson Jared

Classifications

• A61B90/50 Primary

  Supports for surgical instruments, e.g. articulated arms · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title