Surgical robotic automation with tracking markers

Patent metadata

Field	Value
Publication number	US-11896446-B2
Application number	US-201615157444-A
Country	US
Kind code	B2
Filing date	May 18, 2016
Priority date	Jun 21, 2012
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

Devices, Systems, and Methods for detecting a 3-dimensional position of an object, and surgical automation involving the same. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and/or other objects to be tracked include active and/or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers, and the robot determines a 3-dimensional position of the object from the tracking markers.

First claim

What is claimed is:

1. A surgical robot system comprising:
a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm, the end-effector having a guide tube;
an instrument having an array extending from the instrument with a plurality of fixed tracking markers and a moveable tracking marker, the instrument receivable in the guide tube and having a proximal rotatable knob;
an implant configured to be inserted in a patient, the implant configured to be detachably coupled to the instrument, the implant being expandable relative to the instrument, wherein the implant is adapted to be expandable by rotation of the proximal knob; and
at least one camera able to detect the plurality of fixed tracking markers and the moveable tracking marker on the instrument, wherein the robot determines a position or movement of the moveable tracking marker to determine a level of expansion of the implant,
wherein the end effector includes a plurality of markers placed around the surface of the end effector, wherein the distribution of the plurality of markers is configured to be tracked when the end-effector is translated and rotated in the surgical field,
wherein the implant is an expandable interbody fusion device positioned between adjacent vertebral bodies,
and wherein the surgical robot system correlates the position of the moveable tracking marker to a particular position, orientation, and height of the expandable interbody fusion device and determines the height of the expandable interbody fusion device based on the location of the moveable tracking marker.

2. The system of claim 1 , wherein the moveable tracking marker linearly translates relative to the plurality of fixed tracking markers.

3. The system of claim 1 , wherein the moveable tracking marker rotates relative to the plurality of fixed tracking markers.

4. The system of claim 1 , wherein the robot is configured to align the instrument along a given trajectory for a surgical procedure.

5. The system of claim 1 , wherein at least one of the fixed tracking markers is a light emitting diode.

6. The system of claim 1 , wherein the robot continuously determines a changing expansion level of the implant based on the changing position of the moveable tracking marker relative to the fixed tracking markers.

7. A surgical robot system comprising:
a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm, the end-effector having a guide tube;
an instrument having an array extending from the instrument with a plurality of fixed tracking markers and a moveable tracking marker, the instrument receivable in the guide tube and having a proximal rotatable knob;
an implant configured to be inserted in a patient, the implant configured to be detachably coupled to the instrument, the implant being expandable relative to the instrument, wherein the implant is adapted to be expandable by rotation of the proximal knob; and
at least one camera able to detect the plurality of fixed tracking markers and the moveable tracking marker on the instrument, wherein the robot determines a position or movement of the moveable tracking marker to determine a level of expansion of the implant,
wherein the implant is an expandable interbody fusion device positioned between adjacent vertebral bodies,
and wherein the surgical robot system correlates the position of the moveable tracking marker to a particular position, orientation, and height of the expandable interbody fusion device and determines the height of the expandable interbody fusion device based on the location of the moveable tracking marker.

Assignees

• Globus Medical Inc

Inventors

• Crawford Neil R
• Cicchini Stephen
• Johnson Norbert

Classifications

• A61B90/98 Primary

  using electromagnetic means, e.g. transponders · CPC title

• A61B5/064 Primary

  using markers (A61B5/062 takes precedence) · CPC title

• A61B34/20

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

• A61B34/30

  Surgical robots · CPC title

• A61B34/32

  operating autonomously · CPC title