Robotic surgical system with end effector marker diffusers

Patent metadata

Field	Value
Publication number	US-12440281-B2
Application number	US-202318204477-A
Country	US
Kind code	B2
Filing date	Jun 1, 2023
Priority date	Jun 2, 2022
Publication date	Oct 14, 2025
Grant date	Oct 14, 2025

Abstract

A surgical system includes a tool for engaging a target site, a navigation system including a localizer to track states of trackers, a patient tracker for attachment relative to the target site, a robotic arm to maintain alignment of the tool, and an end effector attached to the robotic arm to support the tool. The end effector includes an end effector tracker having markers each including a body having an inner bore surface defining a bore between an inlet and an outlet, a light module supported adjacent to the inlet and arranged to emit light into reflection with the inner bore surface, and a diffuser supported adjacent to the outlet to diffuse light reflected by the inner bore surface, the diffuser having an output surface arranged to present diffused light across the output surface detectable by the localizer of the navigation system to enable tracking states of the end effector.

First claim

What is claimed is:

1. A surgical system comprising:
a tool for engaging a target site;
a navigation system including a localizer to track states of trackers within a field of view;
a patient tracker adapted for attachment relative to the target site;
a robotic arm configured to maintain alignment of the tool relative to the target site, the robotic arm extending between a base end and a mount end arranged for movement relative to the base end; and
an end effector attached to the mount end of the robotic arm and configured to support the tool, the end effector including an end effector tracker having a plurality of markers each including:
a body having an inner bore surface defining a bore extending between an inlet and an outlet,
a light module supported adjacent to the inlet and arranged to emit light into reflection with the inner bore surface, and
a diffuser supported adjacent to the outlet to diffuse light reflected by the inner bore surface emitted by the light module, the diffuser having an output surface arranged to present diffused light across the output surface detectable by the localizer of the navigation system to enable tracking states of the end effector.

2. The surgical system as set forth in claim 1 , wherein the inner bore surface has a bore parameter value, and the output surface has a diffuser parameter value different from the bore parameter value.

3. The surgical system as set forth in claim 2 , wherein the bore parameter value and the diffuser parameter value are further defined as parameters associated with one or more of: transmission rate of light and/or reflectivity of light.

4. The surgical system as set forth in claim 1 , wherein the light module is arranged to emit light through a conical zone extending from the light module, into the bore, and to the inner bore surface.

5. The surgical system as set forth in claim 4 , wherein the body defines an axial body length between the inlet and the outlet;
wherein the conical zone intersects the inner bore surface at an intersection location;
wherein the conical zone defines an axial zone length between the light module and the intersection location; and
wherein the axial body length is larger than the axial zone length.

6. The surgical system as set forth in claim 5 , wherein the diffuser has an input surface facing away from the output surface and arranged to receive light reflected by the inner bore surface emitted by the light module, with the input surface disposed in spaced relation to the intersection location where the conical zone intersects the inner bore surface.

7. The surgical system as set forth in claim 1 , wherein the output surface of the diffuser defines a radial width;
wherein the body defines an axial body length between the inlet and the outlet; and
wherein the axial body length is larger than the radial width.

8. The surgical system as set forth in claim 7 , wherein the axial body length of the body is between 1.1 and 20 times greater than the radial width of the diffuser.

9. The surgical system as set forth in claim 7 , wherein the radial width of the diffuser is between about 1 millimeter and about 8 millimeters.

10. The surgical system as set forth in claim 1 , wherein the output surface has a circular profile.

11. The surgical system as set forth in claim 1 , wherein the light module is disposed at least partially in the bore.

12. The surgical system as set forth in claim 1 , wherein the diffuser is disposed at least partially in the bore.

13. The surgical system as set forth in claim 1 , wherein the end effector tracker includes an end effector housing; and
wherein the plurality of markers are each operatively attached to the end effector housing.

14. The surgical system as set forth in claim 13 , wherein the body includes a flange arranged adjacent to the outlet of the bore shaped for engagement with the end effector housing.

15. The surgical system as set forth in claim 1 , wherein the body further includes a retainer arranged adjacent to the inlet of the bore; and
wherein each of the plurality of markers further includes a clip supporting the light module and coupled to the retainer to secure the light module to the body.

16. The surgical system as set forth in claim 15 , wherein the clip includes a resilient arm shaped to engage the retainer.

17. The surgical system as set forth in claim 1 , wherein the localizer of the navigation system includes an optical position sensor to track states of the end effector tracker within the field of view.

18. The surgical system as set forth in claim 17 , wherein the navigation system includes a navigation controller configured to identify markers within the field of view based on predetermined arrangements of pixels represented in tracking data generated by the optical position sensor.

19. The surgical system as set forth in claim 18 , wherein one or more of the plurality of markers are represented with at least partially elliptical profiles in predetermined arrangements of pixels.

20. A surgical system comprising:
a tool for engaging a target site;
a navigation system including a localizer to track states of trackers within a field of view;
a patient tracker adapted for attachment relative to the target site;
a robotic arm configured to maintain alignment of the tool relative to the target site, the robotic arm extending between a base end and a mount end arranged for movement relative to the base end; and
an end effector attached to the mount end of the robotic arm and configured to support the tool, the end effector including an end effector tracker having a plurality of markers each including:
a body having an inner bore surface defining a bore extending between an inlet and an outlet,
a light module supported adjacent to the inlet and arranged to emit light into the bore, and
a diffuser supported adjacent to the outlet to diffuse light emitted by the light module, the diffuser having an output surface arranged to present diffused light across the output surface detectable by the localizer of the navigation system to enable tracking states of the end effector.

Assignees

• Mobius Imaging Llc

Inventors

• Daley Edward
• Sebring Paul
• Row Gordon

Classifications

• A61B90/39 Primary

  Markers, e.g. radio-opaque or breast lesions markers · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B2090/3937

  Visible markers · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2090/3966

  Radiopaque markers visible in an X-ray image · CPC title