Systems and methods for autonomous robotic surgery

Patent metadata

Field	Value
Publication number	US-11980432-B2
Application number	US-201916673806-A
Country	US
Kind code	B2
Filing date	Nov 4, 2019
Priority date	Mar 8, 2019
Publication date	May 14, 2024
Grant date	May 14, 2024

Abstract

Systems and methods are provided for autonomous robotic surgery which is preferably integrated with autonomous-assisted intraoperative real-time single modality and/or multi-modality fusion imaging/electrophysiological diagnostics. The robotic surgery systems and methods can be integrated with autonomous-assisted intraoperative body/limb positioning, and integrated with autonomous-assisted land and unmanned aerial vehicular patient transportation.

First claim

What is claimed is:

1. A robotic surgical system comprising:
one or more surgical robots including a first surgical robot and a second surgical robot;
a plurality of arms movably coupled to the one or more surgical robots and configured to navigate three dimensional space, the plurality of arms including (i) a first C-arm coupled to the first surgical robot and (ii) a second C-arm that is coupled to the second surgical robot and is independently movable from the first C-arm, the first C-arm being configured to move within a first surgical area relative to a patient, and the second C-arm being configured to move within a second surgical area relative to the patient that does not overlap with the first surgical area; and
one or more real-time imaging devices disposed in one or more of the plurality of arms and configured to provide real-time visual monitoring of the one or more surgical robots,
wherein the one or more surgical robots includes:
a top portion operatively coupled to at least one of the plurality of arms to allow the one or more surgical robots to move relative to the at least one of the plurality of arms,
a bottom portion configured to attach a surgical instrument,
a plurality of upper linkages having first upper ends and second upper ends opposite to the first upper ends, the first upper ends being pivotably coupled to the top portion,
a plurality of lower linkages having first lower ends and second lower ends opposite to the first lower ends, the second lower ends being pivotably coupled to the bottom portion, and
one or more sensors including one or more visual monitoring sensors that are embedded in the plurality of upper linkages and the plurality of lower linkages,
wherein the second upper ends of the plurality of upper linkages are pivotably coupled to the first lower ends of the plurality of lower linkages, respectively, between the top portion and the bottom portion, and
wherein the one or more surgical robots are configured to:
receive image data from the one or more real-time imaging devices, the image data produced from the real-time visual monitoring;
determine a first position of the one or more surgical robots relative to a patient; and
autonomously adjust a position of the surgical instrument relative to the patient by automatically moving to a second position relative to an arm of the plurality of arms, the automatically moving to the second position being based at least in part on the received image data,

wherein receiving the image data, determining the first position, and the autonomously adjusting the position of the surgical instrument are performed for the first and second surgical robots, independently.

2. The system of claim 1 , wherein the one or more surgical robots are configured to be autonomously operated.

3. The system of claim 1 , wherein the one or more surgical robots are configured to provide autonomous robotic surgery.

4. The system of claim 1 , wherein the one or more surgical robots comprise integrated delta robots.

5. The system of claim 1 , wherein the plurality of arms comprises C-arms.

6. The system of claim 1 , wherein the one or more surgical robots include a base being autonomously movable and configured to operatively couple to the plurality of arms, the plurality of arms being coupled in humanoid form and including autonomous elements.

7. The system of claim 1 , further comprising:
an autonomous limb positioner (ALP) including a robotic arm with a planar kinematic chain with linkages and configured to position an involuntary patient or limbs.

8. The system of claim 1 , further comprising:
a plurality of autonomous robotic units (ARUs), each including a body and electronics contained in the body and configured to perform desired functionality; and
one or more double ball joints (DBJs), each configured to movably interlock with an end of one ARU and an end of another ARU.

9. The system of claim 1 , further comprising:
one or more operating room tables configured to be autonomously movable and selectively position a patient's body or limbs thereon.

10. The system of claim 1 , further comprising:
one or more self-driving gurneys to provide transport for the patient.

11. The system of claim 1 , and further comprising one or more controllers configured to receive the image data from the one or more real-time imaging devices in real-time, and to continually adjust a position of the one or more surgical robots based on the image data received in real-time.

12. The system of claim 1 , and further comprising one or more controllers configured to determine the first position of the one or more surgical robots based at least in part on data received from the one or more sensors.

13. The system of claim 12 , wherein the one or more controllers are configured to control movement of the one or more surgical robots using a closed control loop.

14. The system of claim 13 , wherein the one or more controllers are configured to control movement of the one or more surgical robots based at least in part on one or more user inputs.

15. The system of claim 1 , wherein automatically moving relative to the arm of the plurality of arms to a second position further comprises dynamically repositioning the one or more surgical robots relative to the patient.

16. The system of claim 15 , wherein the arm of the plurality of arms is a C-arm, and wherein automatically moving relative to the arm comprises moving along a track in the C-arm.

17. The system of claim 1 , wherein the bottom portion of the one or more surgical robots is configured to be attached to a surgical instrument comprising one of an imager, a therapeutic radiation tool and an ultrasound tool.

18. The system of claim 1 , wherein the bottom portion of the one or more surgical robots is configured to be attached to a surgical instrument comprising one of a clamp, an occlude, a needle driver, a retractor, a distractor, or a mechanical cutting tool.

19. The system of claim 1 , wherein a surgical instrument of the first surgical robot is different from a surgical instrument of the second surgical robot.

20. The system of claim 1 , wherein autonomously adjusting the position of the surgical instrument for the first surgical robot is not based on receiving the image data and determining the first position for the second surgical robot.

Assignees

• Moskowitz Family Llc

Inventors

• Moskowitz Mosheh T
• Moskowitz Nathan C

Classifications

• B64U2201/104

  using satellite radio beacon positioning systems, e.g. GPS · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64U2101/55

  for life-saving or rescue operations; for medical use · CPC title

• B64U2101/20

  for use as communications relays, e.g. high-altitude platforms · CPC title

• B64U50/13

  using external fans or propellers · CPC title