Articulating camera stand

Patent metadata

Field	Value
Publication number	US-11872001-B2
Application number	US-202017130320-A
Country	US
Kind code	B2
Filing date	Dec 22, 2020
Priority date	Jul 12, 2016
Publication date	Jan 16, 2024
Grant date	Jan 16, 2024

Abstract

Devices, systems and methods for detecting a position of an object with a robot surgical system having an articulable, separable camera stand. The surgical robot system may include a robot having a robot base with a robot arm and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, other objects, or any combination thereof, may be tracked via active and/or passive tracking markers. A camera, such as an infrared camera, a bifocal camera or a stereophotogrammetric infrared camera, is mounted on a separable camera stand and is able to detect the tracking markers when in use. Using the camera, the robot determines a position of the object from the tracking markers, which may be a three-dimensional position of the object or the markers. When convenient, the camera base may be assembled into the robot base, e.g., by sliding the camera base into the robot.

First claim

What is claimed is:

1. A surgical robot system comprising:
a surgical robot having a robot base and a robot arm coupled to the robot base; and
a camera stand for mounting a camera, the camera stand including a base with casters, a housing, a camera-mounting portion, and at least one control handle configured to secure the camera stand to the robot and for releasing the camera stand from the robot
wherein the camera stand includes a pivoting lever linked to the at least one control handle for securing the camera stand to the robot and for releasing the camera stand from the robot,
wherein raising the control handle forces the pivoting lever through pivot points to deploy the camera stand.

2. The surgical robot system of claim 1 , wherein the camera stand base comprises a sloped ramp, the camera stand is secured to the robot base via the sloped ramp of the camera stand base and a sloped ramp on inner portions of the robot base.

3. The surgical robot system of claim 1 , wherein the at least one control handle further comprises a second handle for assisting in deploying and retracting legs of the camera stand base.

4. The surgical robot system of claim 3 , wherein the legs of the camera stand comprise a left leg pivotally mounted to the base of the camera stand via a left leg pivot and a right leg pivotally mounted to the base of the camera stand via a right leg pivot.

5. The surgical robot system of claim 1 , wherein the pivoting lever further comprises a pawl at a distal end of the pivoting lever, the pawl adapted to fit into a space in the robot base to secure the pawl and to secure the camera stand to the camera base.

6. The surgical robot system of claim 3 , wherein the camera stand is adapted, via movement of the second handle, to convert linear motion of a connecting rod or spring of the camera stand to rotary motion of the legs of the camera stand.

7. The surgical robot system of claim 6 , further comprising a pivoting mechanism connected to the connecting rod or spring, the pivoting mechanism comprising a central pivot, a left pivot and a right pivot, the left and right pivots connected to a single leg of the camera stand, wherein linear motion of the connecting rod or spring causes pivoting of the central pivot with respect to the left and right pivots.

8. The surgical robot system of claim 7 , wherein pivoting of the central pivot via the connecting rod or spring causes vertical movement of the central pivot and causes rotational movement of legs of the camera stand.

9. The surgical robot system of claim 7 , wherein the left and right pivots are connected to the single leg of the camera stand via different moment arms of the left and right pivots with respect to the single leg of the camera stand.

10. The robot surgical system of claim 1 , further comprising at least one camera adapted to mount on the camera-mounting portion of the camera stand, the camera adapted to detect a plurality of tracking markers mounted on at least one of: the robot arm; an end-effector of the robot arm; a tool of the end effector; and a patient, wherein the robot and the at least one camera are adapted to determine a 3-dimensional position of the robot arm, the end-effector, the tool or the patient via one or more of the plurality of tracking markers.

11. The robot surgical system of claim 1 , further comprising a plurality of tracking markers to be mounted on at least one of: an end-effector of the robot arm; a tool of the end effector; and a patient, wherein the one or more tracking markers are active markers having an active state and an inactive state, the active state emitting an infrared signal detected by the at least one camera, and the inactive state not emitting the infrared signal such that the one or more tracking markers are not detected by the at least one camera.

12. A surgical robot system comprising:
a surgical robot having a robot base and a robot arm coupled to the robot base, the robot base including a lifting mechanism; and
a camera stand for mounting a camera, the camera stand including a base with casters, a housing, a camera-mounting portion, and a first control handle configured to secure the camera stand to the robot and for releasing the camera stand from the robot,
wherein the camera stand includes two legs, each leg configured for mounting the camera stand with the lifting mechanism of the robot base
wherein the camera stand comprises a pivoting lever linked to the first control handle for securing the camera stand to the robot and a second control handle for deploying the two legs of the camera stand.

13. The surgical robot system of claim 12 , wherein the pivoting lever further comprises a pawl at a distal end of the pivoting lever, the pawl adapted for fit into a space in the robot base to secure the pawl and the camera stand to the camera base.

14. The surgical robot system of claim 12 , wherein the camera stand is adapted, via movement of the second handle, to convert linear motion of a component of the camera stand to rotary motion of the legs of the camera stand.

15. The surgical robot system of claim 14 , further comprising a pivoting mechanism connected to the component, the pivoting mechanism comprising a central pivot, a left pivot and a right pivot, the left and right pivots connected to a single leg of the camera stand, wherein linear motion of the component causes pivoting of the central pivot with respect to the left and right pivots.

16. The surgical robot system of claim 15 , wherein the component comprises a connecting rod or a spring connected to the pivoting mechanism, the connecting or the spring adapted to assist in deploying the two legs of the camera stand.

17. The surgical robot system of claim 15 , wherein pivoting of the central pivot via the component causes vertical movement of the central pivot and causes horizontal motion of the left and right pivots.

18. The surgical robot system of claim 15 , wherein the left and right pivots are connected to the single leg of the camera stand via different moment arms of the left and right pivots with respect to the right leg pivot of the camera stand.

Assignees

• Globus Medical Inc

Inventors

• Cleary David
• Johnson Norbert
• Zhang Kevin

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B34/20

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

• A61B50/13

  Trolleys{, e.g. carts} · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B2034/2057

  Details of tracking cameras · CPC title