Method and system for guiding user positioning of a robot

Patent metadata

Field	Value
Publication number	US-11872005-B2
Application number	US-202017120466-A
Country	US
Kind code	B2
Filing date	Dec 14, 2020
Priority date	Feb 26, 2016
Publication date	Jan 16, 2024
Grant date	Jan 16, 2024

Abstract

A system and process is provided for dynamically positioning or repositioning a robot in a surgical context based on workspace and task requirements, manipulator requirements, or user preferences to execute a surgical plan. The system and method accurately determines and indicates an optimal position for a robot with respect to a patient's anatomy before or during a surgical procedure. Optimal positions for a robot are intuitively indicated to a user. surgical procedures can illustratively include surgery to the knee joint, hip joint, spine, shoulder joint, elbow joint, ankle joint, jaw, a tumor site, joints of the hand or foot, and other appropriate surgical sites.

First claim

The invention claimed is:

1. A process for positioning a robot with respect to a bone of a patient, the robot comprising a moveable base, a manipulator arm, and an end-effector coupled to the manipulator arm, said process comprising:
determining a position and/or orientation (POSE) for an axis of the end-effector in a workspace of the robot; and
positioning the axis of the end-effector, with the manipulator arm, in the determined POSE, which then provides feedback for positioning the moveable base of the robot with respect to the patient by aligning a longitudinal axis of the bone with the axis of the end-effector positioned in the determined POSE.

2. The process of claim 1 wherein the POSE for the axis of the end-effector is determined based on operational data defined in a surgical plan.

3. The process of claim 1 wherein the POSE for the axis of the end-effector is determined based on at least one of: (i) a movement of the manipulator arm as defined in a surgical plan; (ii) surgeon preferences; and (iii) patient factors.

4. The process of claim 1 further comprising a graphical user interface (GUI) to display dynamic positioning information for the robot.

5. The process of claim 4 wherein the GUI displays a view of the bone and a footprint of the moveable base.

6. The process of claim 5 further comprising changing a color of a representation of the bone to indicate if the bone is reachable by the end-effector.

7. The process of claim 5 further comprising operating a triad or rotation cursor to virtually adjust a position of the moveable base on the GUI.

8. The process of claim 4 wherein the GUI prompts a user to acknowledge the position of the axis of the end-effector when positioned in the determined POSE.

9. The process of claim 4 wherein the GUI is physically separated from the robot.

10. The process of claim 1 further comprising:
moving the moveable base or the bone to approximately align the axis of the bone with the longitudinal axis of the end-effector.

11. The process of claim 1 wherein the POSE for the axis of the end-effector is determined based on at least one of: the workspace of the robot and a volume of the bone to be modified; the avoidance of at least one of a singularity, a joint limit, or a collision of the manipulator arm while the end-effector modifies a volume of the bone; a position and orientation (POSE) of a fiducial marker array mounted on the robot with respect to a POSE of a tracking system detector; or a position defined in a surgical plan.

12. The process of claim 1 wherein the POSE for the axis of the end-effector is determined using an optimization algorithm.

13. The process of claim 1 wherein the location of the longitudinal axis of the bone is not registered with respect to the robot when the moveable base is positioned relative to the patient.

14. The process of claim 1 wherein the manipulator arm has six or more degrees-of-freedom.

15. A system comprising:
a robot comprising a moveable base, a manipulator arm, and an end-effector coupled to the manipulator arm; and
a computer comprising a processor configured to:
determine a position and/or orientation (POSE) for an axis of the end-effector in a workspace of the robot; and
control the manipulator arm to position the axis of the end-effector in the determined POSE, which then provides feedback for positioning the moveable base of the robot with respect to the patient by aligning a longitudinal axis of the bone with the axis of the end-effector positioned in the determined POSE.

16. The system of claim 15 wherein the POSE for the axis of the end-effector is determined based on operational data defined in a surgical plan.

17. The system of claim 15 wherein the POSE for the axis of the end-effector is determined based on at least one of: (i) a movement of the manipulator arm as defined in a surgical plan; (ii) surgeon preferences; and (iii) patient factors.

18. The system of claim 15 wherein the moveable base is moveable for moving the moveable base to align the axis of the end-effector, in the determined POSE, with the axis of the bone.

19. The system of claim 15 wherein the POSE for the axis of the end-effector is determined based on at least one of: the workspace of the robot and a volume of the bone to be modified; the avoidance of at least one of a singularity, a joint limit, or a collision of the manipulator arm while the end-effector modifies a volume of the bone; a position and orientation (POSE) of a fiducial marker array mounted on the robot with respect to a POSE of a tracking system detector; or a position defined in a surgical plan.

20. The system of claim 15 wherein the POSE for the axis of the end-effector is determined using an optimization algorithm.

Assignees

• Think Surgical Inc

Inventors

• Tabandeh Saleh
• Zuhars Joel
• Bonny Daniel Patrick
• Pack Timothy
• Hanson Randall
• Hoppe Michael
• Netravali Nathan A

Classifications

• A61B34/32 Primary

  operating autonomously · CPC title

• A61B34/00

  Computer-aided surgery; Manipulators or robots specially adapted for use in surgery · CPC title

• A61B34/10 Primary

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• A61B34/20 Primary

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

• A61B34/25

  User interfaces for surgical systems · CPC title