Surgical robot platform

Patent metadata

Field	Value
Publication number	US-11026756-B2
Application number	US-201715473698-A
Country	US
Kind code	B2
Filing date	Mar 30, 2017
Priority date	Jun 21, 2012
Publication date	Jun 8, 2021
Grant date	Jun 8, 2021

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 and is further configured to (i) calculate a position of the at least one transmitter by analysis of the signals received by the plurality of receivers; (ii) display the position of the at least one transmitter with respect to the body of the patient; and (iii) selectively control actuation of the motor assembly in response to the signals received by the plurality of receivers.

First claim

What is claimed is:

1. A surgical robot system comprising:
a robot base including a display, the display mechanically coupled directly to the robot base;
a robot arm coupled to the robot base, wherein movement of the robot arm is electronically controlled by the robot base;
an end-effector, coupled to the robot arm, wherein the end-effector includes a guide tube configured to receive a surgical instrument; and
a force sensor configured to determine a force applied to the surgical instrument along an orientation axis of the guide tube,
wherein the robot arm includes a plurality of tracking markers configured to track the movement of the robot arm,
wherein at least one tracking marker is mounted and secured to the end-effector, and
wherein the robot arm is not moveable in six degrees of motion.

2. The surgical robot system of claim 1 , wherein the force sensor is configured to produce a digital signal.

3. The surgical robot system of claim 2 , wherein the digital signal is indicative of the force applied to the surgical instrument by the body of a patient as the surgical instrument advances into tissue of the patient.

4. The surgical robot system of claim 1 , wherein the force sensor is a uniaxial load cell.

5. The surgical robot system of claim 1 , wherein the force sensor is coupled to analog-to-digital filtering to supply a continuous digital data stream to the robot base.

6. The surgical robot system of claim 1 , wherein the force sensor is configured to continuously produce signals indicative of the force applied to the surgical instrument.

7. The surgical robot system of claim 1 , further comprising the surgical instrument.

8. The surgical robot system of claim 1 , wherein the robot base is configured to determine that the surgical instrument contacts bone based upon the applied force.

9. The surgical robot system of claim 1 , wherein the force sensor is coupled to the end effector.

10. The surgical robot system of claim 1 , wherein the force sensor is coupled to the surgical instrument.

11. A surgical robot system comprising:
a robot base including a display, the display mechanically coupled directly to the robot base;
a robot arm coupled to the robot base, wherein movement of the robot arm is electronically controlled by the robot base;
an end-effector, coupled to the robot arm, wherein the end-effector includes a guide tube configured to receive a surgical instrument; and
a force sensor configured to determine a force applied to the surgical instrument along an orientation axis of the guide tube,
wherein the robot system is configured to track the position of the surgical instrument and the display is configured to show a digital representation of a patient and a position of the surgical instrument relative to the patient,
wherein the robot arm includes a plurality of tracking markers configured to track the movement of the robot arm,
wherein at least one tracking marker is mounted and secured to the end-effector, and
wherein the robot arm is not moveable in six degrees of motion.

12. The surgical robot system of claim 11 , wherein the force sensor is configured to produce a digital signal.

13. The surgical robot system of claim 12 , wherein the digital signal is indicative of the force applied to the surgical instrument by the body of a patient as the surgical instrument advances into tissue of the patient.

14. The surgical robot system of claim 11 , wherein the force sensor is a uniaxial load cell.

15. The surgical robot system of claim 11 , wherein the force sensor is coupled to analog-to-digital filtering to supply a continuous digital data stream to the robot base.

16. The surgical robot system of claim 11 , wherein the force sensor is configured to continuously produce signals indicative of the force applied to the surgical instrument.

17. The surgical robot system of claim 11 , further comprising the surgical instrument.

18. The surgical robot system of claim 11 , wherein the robot base is configured to determine that the surgical instrument contacts bone based upon the applied force.

19. The surgical robot system of claim 11 , wherein the force sensor is coupled to the end effector.

20. The surgical robot system of claim 11 , wherein the force sensor is coupled to the surgical instrument.

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