Surgical robot platform

Patent metadata

Field	Value
Publication number	US-12544157-B2
Application number	US-202217844776-A
Country	US
Kind code	B2
Filing date	Jun 21, 2022
Priority date	Jun 21, 2012
Publication date	Feb 10, 2026
Grant date	Feb 10, 2026

Abstract

A medical robot system, including a robot coupled to an end effector element with the robot configured for controlled movement and positioning. The robot system includes a robot base having a display, a robot arm coupled to the robot base, wherein movement of the robot arm is electronically controlled by the robot base. The end-effector is coupled to the robot arm, containing one or more end-effector tracking markers. The system also includes a plurality of dynamic reference bases (DRB) attached to multiple patient fixture instruments, wherein the plurality of dynamic reference bases include one or more tracking markers indicating a position of the patient fixture instrument in a navigational space. The system also includes a first camera system and a second camera system, the first and second camera systems being able to detect a plurality of 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 first plurality of tracking markers affixed to a portion of the end-effector; a first camera system and a second camera system configured to be spaced from the first camera system, each camera system adapted to independently detect the first plurality of tracking markers for determining a 3-dimensional (3D) position of the end-effector, a control system coupled to the robot and the first and second camera systems, and configured to calculate variances in the 3D position of the first plurality of tracking markers from the first camera system and the second camera system and determine a final 3D position of the first plurality of tracking markers based on the calculated variances.

2 . The surgical robot system of claim 1 , wherein a second plurality of tracking markers are affixed to a surgical instrument and the control system is configured to calculate instrument variances in the 3D position of the first plurality of tracking markers from the first camera system and the second camera system based on a position of the first plurality of tracking markers to the respective camera systems and determine a final 3D position of the second plurality of tracking markers based on the calculated instrument variances.

3 . The surgical robot system of claim 1 , wherein the second camera system is attached to a rail system configured on the ceiling of an operating arena.

4 . The surgical robot system of claim 1 , wherein the second camera system is coupled to an optical head-mounted display in a pair of eyeglasses.

5 . The surgical robot system of claim 1 , wherein the second camera system is coupled to an imaging system.

6 . The surgical robot system of claim 1 , wherein the second camera system is coupled to a surgical instrument.

7 . The surgical robot system of claim 1 , wherein the second camera system is coupled to the robot arm.

8 . The surgical robot system of claim 1 , wherein the second camera system is coupled to the end effector.

9 . The surgical robot system of claim 1 , wherein the first camera system detects visible light and the second camera system detects of infra-red signals.

10 . The surgical robot system of claim 1 , wherein a control unit determines a difference in the variances from the first and second camera system and uses the positioning data from the camera system with the smaller variances.

11 . The surgical robot system of claim 1 , wherein a control unit continuously updates tracked positions of the end effector and variances for the first and second camera systems.

12 . The surgical robot system of claim 1 , wherein the system includes a third and fourth camera system.

13 . 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 first plurality of tracking markers affixed to a portion of the end-effector; a first camera system and a second camera system, the first and second camera systems able to detect the first plurality of tracking markers, wherein a control system determines a 3-dimensional (3D) position of the end-effector, wherein the control system calculates variances in the position of the first plurality of tracking markers from the first camera system and the second camera system and determine a final 3D position of the first plurality of tracking markers based on the calculated variances.

14 . The surgical robot system according claim 13 , wherein each camera system estimates the position of a tracked object or instrument, each camera system provides a different variance, the camera system with the lower variances is used to determine a final position of the tracked object or instrument rather than the camera system with the higher variances.

15 . 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 plurality of tracking markers affixed to a portion of the end-effector; a first camera system and a second camera system, each camera systems being configured to independently detect the plurality of tracking markers; a control system configured to determine a 3-dimensional (3D) position of the end-effector, the control system further configured to:
calculate variances in the 3D position of the plurality of tracking markers from the first camera system and the second camera system; and
determine a final position of the plurality of tracking markers using the camera system with the lower variance rather than the camera system with the higher variance.

Assignees

• Globus Medical Inc
• Global Medical Inc

Inventors

• Joshi Sanjay M
• Crawford Neil
• Johnson Norbert
• Forsyth Jeffrey

Classifications

• A61B2034/2072

  Reference field transducer attached to an instrument or patient · CPC title

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title

• A61B17/848

  Kirschner wires, i.e. thin, long nails · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B2090/364

  Correlation of different images or relation of image positions in respect to the body · CPC title