Surgical robotic systems with target trajectory deviation monitoring and related methods

Patent metadata

Field	Value
Publication number	US-11857149-B2
Application number	US-201815948013-A
Country	US
Kind code	B2
Filing date	Apr 9, 2018
Priority date	Jun 21, 2012
Publication date	Jan 2, 2024
Grant date	Jan 2, 2024

Abstract

A method may be provided to operate a surgical robotic system including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient. Position information may be received where the position information is generated using a sensor system remote from the robotic arm and remote from the patient. The position information may include position information relating to a tracking device affixed to the patient and position information relating to the surgical end-effector. The robotic arm may be controlled to move the surgical end-effector to a target trajectory relative to the anatomical location of the patient based on the position information generated using the sensor system.

First claim

What is claimed is:

1. A method of operating a surgical robotic system including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient, the method comprising:
receiving position information generated using an optical sensor system remote from the robotic arm and remote from the patient, wherein the position information includes position information relating to a tracking device affixed to the patient and position information relating to a tracking device affixed to the surgical end-effector;
controlling the robotic arm to move the surgical end-effector to a target trajectory relative to the anatomical location of the patient based on the generated position information;
after controlling the robotic arm to move to the target trajectory relative to the anatomical location of the patient, controlling the robotic arm to lock a position of the surgical end-effector;
while the position of the surgical end-effector is locked, continuously determining a deviation between an actual trajectory of the surgical end-effector with respect to the anatomical location and a target trajectory of the surgical end-effector with respect to the anatomical location based on the optical sensor system continuously generating the position information based on the tracking devices on the patient and the end-effector; and
continuously generating a user output indicating the deviation, wherein the user output is generated responsive to determining the deviation
wherein the deviation is determined based on the positioning information generated using the remote sensor system of the surgical end-effector;
wherein determining the deviation includes determining the deviation dynamically based on a model of movement of the anatomical location relative to the tracking device for a plurality of phases of a breathing cycle;
wherein a first offset of the anatomical location relative to the tracking device that is used to determine the target trajectory for a first phase of a breathing cycle and a second offset of the anatomical location relative to the tracking device that is used to determine the target trajectory for a second phase of the breathing cycle; and
wherein generating the user output may thus include generating the user output dynamically to indicate the deviations based on the offsets for the plurality of phases of the breathing cycle in real time; and
moving the robotic arm based on the deviations.

2. The method of claim 1 further comprising:
receiving user input to move the surgical end-effector to the target trajectory relative to the anatomical location of the patient;
wherein controlling the robotic arm to move the surgical end-effector to the target trajectory comprises controlling the robotic arm to move the surgical end-effector to the target trajectory responsive to receiving the user input to move the surgical end-effector.

3. The method of claim 2 , wherein the user input comprises first user input, the method further comprising:
after controlling the robotic arm to move to the target trajectory, receiving second user input to lock the position of the surgical end-effector;
wherein controlling the robotic arm to lock the position of the surgical end-effector comprises controlling the robotic arm to lock the position of the surgical end-effector responsive to receiving the second user input to lock the position of the surgical end-effector.

4. The method of claim 3 , wherein controlling the robotic arm to move the surgical end-effector to the target trajectory comprises controlling the robotic arm to move the surgical end-effector to the target trajectory based on first position information generated using the sensor system and a first position of the tracking device, the method further comprising:
after generating the user output indicating the deviation, receiving third user input to move the surgical end-effector to the target trajectory; and
responsive to receiving the third user input, controlling the robotic arm to move the surgical end-effector to the target trajectory relative to the anatomical location of the patient based on second position information generated using the sensor system and a second position of the tracking device.

5. The method of claim 1 , wherein generating a user output comprises rendering the user output for presentation on a display.

6. The method of claim 5 , wherein the user output is rendered as a graphic meter on the display.

7. The method of claim 6 , wherein the graphic meter is updated dynamically while the position of the surgical end-effector is locked.

8. The method of claim 1 further comprising: generating a user output providing notification of excess deviation responsive to the deviation exceeding a threshold while the position of the surgical end-effector is locked.

9. The method of claim 1 wherein the surgical end-effector comprises a guide tube configured to guide placement of a surgical instrument that is manually inserted through the guide tube.

10. The method of claim 1 , wherein determining the deviation comprises determining a pattern of the deviation between the actual trajectory of the surgical end-effector and the target trajectory of the surgical end-effector based on the positioning information generated using the sensor system, and wherein the end-effector comprises a surgical instrument, the method further comprising automatically deploying the surgical instrument to effect physical contact with the anatomical location of the patient based on the pattern of the deviation.

Assignees

• Globus Medical Inc

Inventors

• Forsyth Jeffrey
• Crawford Neil
• Ocasio Jovany
• Robinson Michael

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B17/00

  Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) · CPC title

• A61B17/7082

  for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws · CPC title

• A61B34/20

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

• A61B34/74

  Manipulators with manual electric input means · CPC title