Surgical robotic automation with tracking markers

Patent metadata

Field	Value
Publication number	US-12016645-B2
Application number	US-202117336359-A
Country	US
Kind code	B2
Filing date	Jun 2, 2021
Priority date	Jun 21, 2012
Publication date	Jun 25, 2024
Grant date	Jun 25, 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 including a hollow guide tube having a through-lumen,
an expandable scalpel configured to be received by a proximal end of the through-lumen of the guide tube;
wherein the robot is configured to control movement of the end-effector to perform a given surgical procedure, and
wherein the expandable scalpel in a first position has a width smaller than a width of the guide tube and in a second position has a width greater than the width of the hollow tube such that when the expandable scalpel in the first position is received through the proximal end of the guide tube, a distal end of the expandable scalpel passes through the guide tube and extends past a distal end of the guide tube.

2. The system of claim 1 , wherein the expandable scalpel includes an inner shaft and an outer shaft fixed to one another.

3. The system of claim 2 , wherein inner shaft and the outer shaft are fixed through a pin.

4. The system of claim 2 , where in the inner shaft includes a proximal portion and a distal portion, the proximal portion includes a handle assembly and the distal portion includes a cutting assembly.

5. The system of claim 4 , wherein the cutting assembly includes a first cutting element and a second cutting element.

6. The system of claim 5 , wherein the first cutting element and the second cutting element are pivotable coupled to the inner shaft.

7. The system of claim 4 , wherein the proximal portion of the inner shaft includes a biasing element.

8. The system of claim 1 , wherein when a forced is applied downward on the handle assembly, the first cutting element and the second cutting element pivot outward causing the first cutting element and the second cutting element to expand.

9. The system of claim 1 , wherein the expandable scalpel includes optical markers for navigating the scalpel with reference to the end effector and a patient.

10. The system of claim 1 , wherein the end-effector includes optical markers.

11. 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 including a hollow guide tube having a through-lumen;
an expandable scalpel configured to be received within by a proximal end of the through-lumen of the guide tube;
wherein the robot is configured to control movement of the end-effector to perform a given surgical procedure, and
wherein the expandable scalpel includes an inner shaft and outer shaft coupled to one another, the inner shaft includes a cutting assembly having a first element and a second cutting element pivotably coupled to the inner shaft, wherein the expandable scalpel is sized to be received through a proximal end of the guide tube such that a distal end of the expandable scalpel passes through the guide tube and extends past a distal end of the guide tube.

12. The system of claim 11 , wherein inner shaft and the outer shaft are fixed to one another through a pin.

13. The system of claim 11 , where in the inner shaft includes a proximal portion and a distal portion, the proximal portion includes a handle assembly.

14. The system of claim 13 , wherein the proximal portion of the inner shaft includes a biasing element.

15. The system of claim 11 , wherein in a first position the cutting assembly has a width that is smaller than width of the end effector and in a second position the cutting assembly has a width that is greater that the width of the end effector.

16. The system of claim 11 , wherein when a forced is applied downward on the handle assembly, the first cutting element and the second cutting element pivot outward causing the first cutting element and the second cutting element to expand.

17. The system of claim 11 , wherein the expandable scalpel includes optical markers for navigating the expandable scalpel with reference to the end effector and a patient.

18. The system of claim 15 , wherein the robot arm applies the downward or upward force on the handle assembly.

Assignees

• Globus Medical Inc

Inventors

• Hussain Mir
• Cicchini Stephen
• Johnson Norbert
• Crawford Neil R
• Marcouiller Nicholas

Classifications

• G05B2219/45117

  Medical, radio surgery manipulator · CPC title

• A61B2017/00734

  battery operated · CPC title

• A61B2017/00199

  with a console, e.g. a control panel with a display · CPC title

• A61B2017/00119

  alarm; indicating an abnormal situation · 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