Navigational arrays and related methods for use with a robotic arm

Patent metadata

Field	Value
Publication number	US-11712305-B2
Application number	US-202016784488-A
Country	US
Kind code	B2
Filing date	Feb 7, 2020
Priority date	Feb 7, 2020
Publication date	Aug 1, 2023
Grant date	Aug 1, 2023

Abstract

Navigated instrument guide systems and related methods can identify an absolute position of an instrument received within an instrument mount of a robotic arm. A navigation array unit of the guide system can include a main array and a mounted array. The main array can identify a position of the robotic arm and the instrument mount, while the mounted array can identify a depth position of a distal end of an instrument received within the instrument mount. The instrument can be passed through a lumen of the mounted array as the instrument is inserted into the instrument mount. The mounted array can be configured to translate relative to the instrument mount and the main array with distal translation of the instrument. In this manner, a position of the mounted array can identify a depth position of the instrument without a mechanical connection between the mounted array and the instrument.

First claim

The invention claimed is:

1. A surgical assembly comprising:
a first array coupled to a surgical robot arm and configured to locate a position of a distal portion of the arm;
an instrument mount coupled to the robot arm, the instrument mount having a proximal end, a distal end, and a lumen extending therebetween; and
a second array configured to move relative to the instrument mount and the first array as an instrument is passed through the lumen of the instrument mount;
wherein the second array is configured to move along a slot defined by the first array.

2. The assembly of claim 1 , wherein the first array configured to locate the position of the distal portion of the arm is configured to locate a position of a longitudinal axis of the instrument mount.

3. The assembly of claim 1 , wherein the second array is configured to translate along a longitudinal axis of the instrument mount.

4. The assembly of claim 1 , wherein the first array is stationary relative to a distal portion of the robot arm and the second array is configured to move longitudinally relative to the first array and the instrument mount with longitudinal movement of an instrument received within the lumen of the instrument mount.

5. The assembly of claim 1 , wherein the second array includes an array frame, an extension, and a tubular body, the tubular body having a proximal end, a distal end, and a lumen extending therebetween, wherein the lumen is configured to receive an instrument therethrough.

6. The assembly of claim 5 , wherein the lumen of the second array is coaxial with the lumen of the instrument mount.

7. The assembly of claim 1 , further comprising a biasing element configured to urge the second array proximally relative to the instrument mount.

8. The assembly of claim 7 , wherein the biasing element is disposed within an inner lumen of the instrument mount.

9. The assembly of claim 7 , wherein the biasing element is disposed proximal to the instrument mount.

10. The assembly of claim 1 , wherein the second array includes a plurality of tracking elements.

11. The assembly of claim 10 , wherein the first array includes a greater number of tracking elements than the second array.

12. A surgical robot system comprising:
an instrument mount coupled to a surgical robot arm, the instrument mount having a proximal end, a distal end, and a lumen extending therebetween;
an instrument having an instrument body and a collar formed on the instrument body at a location proximal to a distal tip of the instrument;
a first array component configured to locate a position of a distal portion of the surgical robot arm;
a second array component having a tubular body received within the lumen of the instrument mount, wherein the second array component is configured to advance distally with the instrument when the collar of the instrument contacts a proximal portion of the second array component; and
a biasing element configured to urge the second array proximally relative to the instrument mount.

13. The system of claim 12 , wherein the biasing element is a spring extending between the second array component and the instrument mount such that the spring compresses and expands with longitudinal movement of the second array component.

14. The system of claim 13 , wherein the spring is biased away from the instrument mount.

15. The system of claim 12 , wherein the instrument is any of a drill, tap, needle, stylus, and probe.

16. The system of claim 12 , wherein a distance between a proximal end of the second array component and a distal end of the instrument mount is substantially equal to a distance between the collar formed on the instrument body and the distal tip of the instrument.

17. The system of claim 12 , wherein the second array is configured to move along a slot defined by the first array.

18. A surgical assembly comprising:
a surgical robot arm;
an instrument operably connected to the arm such that the instrument moves longitudinally with respect to the arm;
a first array attached to the arm to indicate a position of the arm; and
a second array engaging the instrument and slidably disposed in the first array, wherein the second array is configured to move along a slot defined by the first array, and wherein the second array indicates a depth of the instrument with respect to the position of the arm.

19. The surgical assembly of claim 18 , wherein the arm further comprises an instrument mount, and the first array is attached to the instrument mount.

20. The surgical assembly of claim 19 , wherein the instrument mount defines a lumen, and the second array has a tubular body disposed within the lumen.

21. The surgical assembly of claim 19 , further comprising a biasing element configured to urge the second array proximally relative to the instrument mount.

22. The surgical assembly of claim 18 , wherein the second array engages a collar of the instrument as the instrument moves longitudinally with respect to the arm such that the second array moves with the instrument.

Assignees

• Medos Int Sarl

Inventors

• Richter Joern
• Aschmann Felix
• Guetlin Michael

Classifications

• A61B34/20 Primary

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

• A61B34/30

  Surgical robots · CPC title

• A61B2034/2048

  using an accelerometer or inertia sensor · CPC title

• A61B90/39 Primary

  Markers, e.g. radio-opaque or breast lesions markers · CPC title

• A61B2090/3937

  Visible markers · CPC title