Surgical robotic arm with proximity skin sensing

Patent metadata

Field	Value
Publication number	US-2024358454-A1
Application number	US-202418647034-A
Country	US
Kind code	A1
Filing date	Apr 26, 2024
Priority date	Apr 27, 2023
Publication date	Oct 31, 2024
Grant date	—

Abstract

A robotized computer-assisted surgery system may include a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for obtaining readings from some capacitive sensors representative of at least one object within range; generating a surface model of the at least one object from the readings; and continuously tracking and outputting the position and orientation of the at least one object relative to the robot arm, using the readings and the surface model.

First claim

1 . A robotized computer-assisted surgery system, comprising:
a robot arm; an in-robot sensor system in the robot arm, the in-robot robot system having a plurality of capacitive sensors; a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for:
obtaining readings from at least some of the capacitive sensors representative of at least one object within range;
generating a surface model of the at least one object from the readings; and
continuously tracking and outputting the position and orientation of the at least one object relative to the robot arm, using the readings and the surface model.

2 . The system according to claim 1 , wherein the computer-readable program instructions are executable by the processing unit for controlling movements of the robot arm as a function of a position and orientation of the surface model of the at least one object.

3 . The system according to claim 1 , wherein the system performs the continuously tracking and outputting the position and orientation solely with the in-robot sensor system.

4 . The system according to claim 1 , wherein the system includes a tracker device for optically tracking the at least one object and the robot arm, the system performing the continuously tracking and outputting the position and orientation with the in-robot sensor system and with readings from the tracker device.

5 . The system according to claim 1 , wherein the system outputs an image of the surface model of the object.

6 . The system according to claim 5 , wherein the system outputs an image of a tool supported by the robot arm relative to the image of the surface model of the object.

7 . The system according to claim 1 , wherein the plurality of capacitive sensors are concealed within the robot arm.

8 . The system according to claim 1 , wherein the at least object is at least one anatomical part of a patient.

9 . The system according to claim 1 , wherein the system blocks movement of the robot arm to avoid contact with the at least one object, using the tracking of the surface model of the object.

10 . A robotized computer-assisted surgery system, comprising:
a robot arm; an in-robot sensor system in the robot arm, the in-robot robot system having a plurality of capacitive sensors; a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for:
obtaining readings from at least some of the capacitive sensors representative of at least one object within range of the capacitive sensors;
processing the readings to determine a location of the at least one object relative to the robot arm; and
triggering a user interaction with the robotized computer-assisted surgery system when the object is at a given location relative to the robot arm.

11 . The system according to claim 10 , wherein the computer-readable program instructions are executable by the processing unit for triggering the user interaction with the robotized computer-assisted surgery system when the object is within a proximity distance of part of the robot arm.

12 . The system according to claim 11 , wherein the computer-readable program instructions are executable by the processing unit for triggering the user interaction when the object is within a proximity distance to a passive visual indicator on the robot arm.

13 . The system according to claim 12 , wherein the computer-readable program instructions are executable by the processing unit for triggering the user interaction when the object touches the passive visual indicator on the robot arm.

14 . The system according to claim 12 , including at least two of the passive visual indicator.

15 . The system according to claim 14 , wherein the computer-readable program instructions are executable by the processing unit for triggering the user interaction of a first type when the object is within a proximity distance to a first of the passive visual indicators, and for triggering the user interaction of a second type when the object is within a proximity distance to a second of the passive visual indicators.

16 . The system according to claim 12 , wherein the computer-readable program instructions are executable by the processing unit for programming a type of interaction associated with the passive virtual indicator.

17 . The system according to claim 10 , wherein the computer-readable program instructions are executable by the processing unit for triggering the user interaction by activating a collaborative mode, in which the robot arm moves based on movements of the operator as detected by some of the capacitive sensors.

18 . The system according to claim 10 , wherein the computer-readable program instructions are executable by the processing unit for triggering the user interaction as a movement of a mouse on a pad by the object moving relative to a given zone of the robot arm.

19 . The system according to claim 10 , wherein the object is a user's hand.

20 . The system according to claim 10 , wherein the plurality of capacitive sensors are concealed within the robot arm.

Assignees

• Orthosoft Ulc

Inventors

• Maillet Pierre
• Bonaric Patrice
• Francois Maxence
• Ricatti Laurent

Classifications

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B2034/102

  Modelling of surgical devices, implants or prosthesis · CPC title

• A61B90/361

  Image-producing devices, e.g. surgical cameras · CPC title

• G01B11/2513

  with several lines being projected in more than one direction, e.g. grids, patterns · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title