Intelligent positioning system and methods therefore

Patent metadata

Field	Value
Publication number	US-9668768-B2
Application number	US-201414655872-A
Country	US
Kind code	B2
Filing date	Mar 14, 2014
Priority date	Mar 15, 2013
Publication date	Jun 6, 2017
Grant date	Jun 6, 2017

Abstract

System and methods are provided for adaptively and interoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi-joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam.

First claim

What is claimed is:

1. An automated arm assembly for use during a medical procedure on an anatomical part, the automated arm assembly comprising:
a base frame;
a multi-joint arm operably connected to the base frame and having a distal end that is detachably connectable to an end effector;
an optical imaging device mounted on the end effector;
a weight operably connected to the base frame that provides a counterweight to the multi-joint arm;
a positioning control system operably connected to the multi-joint arm and which is also connectable to a surgical navigation system which is configured to provide information relating to a position of a target, said control system configured to receive input from said surgical navigation system;
the positioning control system configured for, based on input from said surgical navigation system:
identifying a position and an orientation for the target in a predetermined coordinate frame with respect to the anatomical part;
obtaining a position and an orientation of the optical imaging device mounted on the automated arm being located outside and spaced away from the anatomical part and the target, the position and orientation of the optical imaging device being defined in the predetermined coordinate frame;
obtaining a desired standoff distance and a desired orientation between the target and the optical imaging device;
instructing the multi-joint arm to move the optical imaging device to the desired standoff distance and desired orientation;
upon movement of the target, determining a new desired standoff distance and a new desired orientation between the optical imaging device and the preselected portion of the target such that a preselected portion of the target is located in a field of view of the optical imaging device; and
instructing the multi-joint arm to move the optical imaging device to the new desired standoff distance and desired orientation.

2. The automated arm assembly according to claim 1 further including a tower attached to the base frame and extending upwardly therefrom, the multi-joint arm is attached to the tower and extends outwardly therefrom.

3. The automated arm assembly according to claim 2 wherein the arm is movably upwardly and downwardly on the tower.

4. The automated arm assembly according to claim 1 further comprising a supporting beam with one end movably attached to the tower and the other end to the automated arm.

5. The automated arm assembly according to claim 1 wherein the multi-joint arm has at least six degrees of freedom.

6. The automated arm assembly according to claim 1 wherein the automated arm assembly may be moved manually.

7. The automated arm assembly according to claim 1 wherein the base frame further includes wheels.

8. The automated arm assembly according to claim 1 wherein the end effector is tracked using the detection system.

9. The automated arm assembly according to claim 1 wherein multi-joint arm further includes tracking markers which are tracked using the detection system.

10. The automated arm assembly according to claim 1 further including a radial arrangement attached to the distal end of the multi-joint arm and the end effector is movable attached to the radial arrangement whereby the end effector moves along the radial arrangement responsive to information from the control system.

11. The automated arm assembly according to claim 1 further including a joy stick operably connected to the control system and movement of the multi-joint arm is controllable by the joy stick.

12. The automated arm assembly according to claim 1 wherein the end effector is one of an external video scope, an abrasion laser, a gripper, an insertable probe or a micromanipulator.

13. The automated arm assembly according to claim 1 wherein the end effector is a first end effector and further including a second end effector attachable proximate to the distal end of the multi-joint arm.

14. The automated arm assembly according to claim 13 wherein the second end effector is wide angle camera.

15. The automated arm assembly according to claim 1 wherein the control system constrains the movement of the multi-joint arm based on defined parameters.

16. The automated arm assembly according to claim 15 wherein the defined parameters include space above patient, floor space, maintaining surgeon line of sight, maintaining tracking camera line of sight, mechanical arm singularity, self-collision avoidance, patient collision avoidance, base orientation, and a combination thereof.

17. The automated arm assembly according to claim 1 further including a protective dome attached to the multi-joint arm and the distal end of the multi-joint arm is constrained to move only within the protective dome.

18. The automated arm assembly according to claim 1 wherein a virtual safety zone is defined by the control system and the distal end of the multi-joint arm is constrained to move only within the safety zone.

19. The automated arm assembly according to claim 1 wherein the control system is configured for, upon determining a new desired standoff distance and a new desired orientation between the imaging device and the preselected portion of the target, calculating a desired focus and zoom level for the imaging device and adjusting the focus and zoom level of the imaging device to the desired focus and zoom level when the imaging device is moved to the new desired standoff distance and new orientation.

20. The automated arm assembly according to claim 19 including a visual display, and wherein the control system is configured to display an image of the preselected portion of the target at the desired focus and zoom level of the imaging device.

Assignees

• Piron Cameron
• Wood Michael
• Sela Gal
• Richmond Joshua
• Yuwaraj Murugathas
• Mcfadyen Stephen
• Panther Alex
• Shanmugaratnam Nishanthan
• Lau William
• Thomas Monroe M
• Hodges Wes
• Alexander Simon
• Gallop David
• Synaptive Medical Barbados Inc

Inventors

• Piron Cameron
• Wood Michael
• Sela Gal
• Richmond Joshua
• Yuwaraj Murugathas
• Mcfadyen Stephen
• Panther Alex
• Shanmugaratnam Nishanthan
• Lau William
• Thomas Monroe M
• Hodges Wes
• Alexander Simon
• Gallop David

Classifications

• A61B50/13

  Trolleys{, e.g. carts} · CPC title

• G05B2219/45123

  Electrogoniometer, neuronavigator, medical robot used by surgeon to operate · CPC title

• A61B2090/504

  with a counterweight · CPC title

• A61B2090/3983

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

• A61B2090/3735

  Optical coherence tomography [OCT] · CPC title