Surgical tool systems and methods

Patent metadata

Field	Value
Publication number	US-2021121249-A1
Application number	US-202017121091-A
Country	US
Kind code	A1
Filing date	Dec 14, 2020
Priority date	Feb 16, 2006
Publication date	Apr 29, 2021
Grant date	—

Abstract

Embodiments of the present disclosure provide a surgical robot system may include an end-effector element configured for controlled movement and positioning and tracking of surgical instruments and objects relative to an image of a patient's anatomical structure. In some embodiments the end-effector may be tracked by surgical robot system and displayed to a user. In some embodiments the end-effector element may be configured to restrict the movement of an instrument assembly in a guide tube. In some embodiments, the end-effector may contain structures to allow for magnetic coupling to a robot arm and/or wireless powering of the end-effector element. In some embodiments, tracking of a target anatomical structure and objects, both in a navigation space and an image space, may be provided by a dynamic reference base located at a position away from the target anatomical structure.

First claim

1 . A surgical robot system comprising:
a surgical robot base; a surgical robot arm electronically coupled to the surgical robot base; and an end-effector, coupled to the surgical robot arm, having a guide tube configured to receive an instrument assembly, the instrument assembly containing one or more grooves disposed along a length of the instrument assembly, wherein the guide tube is configured to engage at least one of the grooves to restrict rotational movement of the instrument assembly within the guide tube.

2 . The surgical robot system of claim 1 , wherein the instrument assembly is configured for the one or more grooves to disengage the guide tube upon the application of a sufficient force to allow rotational movement of the surgical instrument tool assembly.

3 . The surgical robot of claim 2 , wherein the guide tube comprises a ball detent to engage the one or more grooves to restrict rotational movement of the instrument assembly.

4 . The surgical robot system of claim 3 , wherein the guide tube contains a channel that engages with one groove of the instrument assembly to restrict rotational movement of the surgical instrument tool assembly.

5 . The surgical robot system of claim 1 , wherein the guide tube includes an instrument detecting sensor that is configured to determine the presence of the instrument when the instrument assembly enters the guide tube.

6 . The surgical robot system of claim 5 , wherein a sensor signal indicating the presence of the instrument is transmitted to the robot base, and wherein movement of the robot arm is restricted by the robot based upon receiving the sensor signal indicating the presence of the instrument.

7 . A surgical robot system comprising:
a robot base; a robot arm electronically coupled to the robot base, wherein the robot arm contains at least one depression and a magnet disposed proximate to each of the at least one depression; a clamp containing one or more balls, each of the one or more balls configured to magnetically engage one of the at least one depression; and an end-effector, electronically coupled to the robot base, configured to be coupled to the clamp.

8 . The surgical robot system of claim 7 , wherein the clamp is configured to fasten to end-effector and robot arm with a clamp handle that engages a lip on the end-effector and a lip on the robot arm.

9 . A surgical robot system comprising:
a dynamic reference base (DRB) attached to patient fixture instrument, wherein the dynamic reference base has one or more DRB markers indicating a position of the patient fixture instrument in a navigational space; a registration fixture, having one or more registration markers, indicating a location of a target anatomical structure in the navigational space and one or more registration fiducials indicating a location of the target anatomical structure in an image space; wherein the surgical robot system is configured to associate the location of the target anatomical structure with the patient fixture instrument in the navigational space and the image space taking into account (1) a relationship between the one or more registration markers and the one or more fiducials and (2) a relationship between the registration makers and the DRB markers, and wherein the patient fixture instrument is located in a position different from the target anatomical structure.

10 . The robot system of claim 9 , further comprising a display configured to show a graphical representation of the target anatomical structure in relation to a surgical instrument, wherein the surgical instrument comprises instrument markers.

Assignees

• Globus Medical Inc

Inventors

• Crawford Neil R
• Theodore Nicholas A
• Foster Mitchell
• Johnson Nobert
• Moulton Timothy
• Zhang Kevin
• Forsyth Jeffrey
• Major Chris
• Leboeuf Robert
• Cleary David

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B5/064

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

• G06T7/33

  using feature-based methods · CPC title

• G06T7/73

  using feature-based methods · CPC title

• A61B2560/0437

  Trolley or cart-type apparatus · CPC title