Surgical robot platform

Patent metadata

Field	Value
Publication number	US-9782229-B2
Application number	US-201313924505-A
Country	US
Kind code	B2
Filing date	Jun 21, 2013
Priority date	Feb 16, 2007
Publication date	Oct 10, 2017
Grant date	Oct 10, 2017

Abstract

A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element and is further configured to (i) calculate a position of the at least one transmitter by analysis of the signals received by the plurality of receivers; (ii) display the position of the at least one transmitter with respect to the body of the patient; and (iii) selectively control actuation of the motor assembly in response to the signals received by the plurality of receivers.

First claim

What is claimed is:

1. A medical robot system, comprising:
a robot coupled to an effectuator element, the robot configured for controlled movement and positioning, wherein the robot is configured to receive a three-dimensional (3D) image of a target anatomy of a patient;
at least one radiofrequency (RF) transmitter configured to emit one or more RF signals, the at least one RF transmitter being coupled to an instrument coupled to the effectuator element;
a motor assembly coupled to the robot, the motor assembly being configured to move the effectuator element along one or more of a first x-axis, a first y-axis, and a first z-axis such that movement of the effectuator element along one of the first x-, y-, or z-axes occurs independently of movement of the effectuator element along the other axes of the first x-, y-, and z-axes;
a plurality of RF receivers configured to receive the one or more RF signals emitted by the at least one RF transmitter; and
a control unit coupled to the motor assembly and the plurality of RF receivers, the control unit configured to supply one or more instruction signals to the motor assembly, the instruction signals configured to cause the motor assembly to selectively move the effectuator element along at least one of the first x-, y-, and z-axes, the control unit being further configured to
(i) calculate a position, relative to the target anatomy of the patient, of the at least one RF transmitter coupled to the instrument by analyzing a time of flight of the one or more signals to the plurality of RF receivers in relation to a known distance between each of the plurality of RF receivers and the 3D image of the target anatomy of the patient;
(ii) display the position of the at least one RF transmitter on the 3D image of the target anatomy of the patient; and
(iii) selectively control actuation of the motor assembly in response to the one or more RF signals received by the plurality of RF receivers to drive the instrument along a preprogrammed trajectory.

2. The system of claim 1 , wherein the effectuator element comprises a tube having a pitch axis, a roll axis and a tube axis defining an axis of rotation of the tube.

3. The system of claim 1 , wherein the effectuator element comprises a needle.

4. The system of claim 1 , wherein the plurality of RF receivers comprises at least three RF receivers.

5. The system of claim 1 , wherein the control unit is configured to receive the one or more RF signals from the plurality of RF receivers in an iterative fashion.

6. The system of claim 1 , wherein the control unit is configured to receive the one or more RF signals from the plurality of RF receivers in a dynamic fashion.

7. The system of claim 1 , wherein the control unit is configured to allow a user to pick the desired location within the patient's body and to dynamically provide information that allows the motor assembly to move the effectuator element to the desired location.

8. The system of claim 1 , wherein the at least one RF transmitter is operatively coupled to the control unit, and wherein the control unit is configured to cause the at least one RF transmitter to emit RF signals at one or more selected times.

9. The system of claim 1 , wherein the at least one RF transmitter comprises at least three RF transmitters.

10. The system of claim 1 , wherein the at least one RF transmitter comprises a plurality of RF transmitters, wherein the effectuator element has an outer surface, and wherein the plurality of RF transmitters are radially spaced about the outer surface of the effectuator element.

11. The system of claim 1 , wherein the at least one RF transmitter comprises a plurality of RF transmitters, wherein a distal end of the effectuator element defines a leading edge, and wherein at least one of the plurality of RF transmitters is located on the leading edge of the effectuator element.

12. The system of claim 1 , wherein the control unit is configured to cause the at least one RF transmitter to emit RF signals at a selected frequency.

13. A medical robot system, comprising:
a robot coupled to an effectuator element, the robot configured for controlled movement and positioning, wherein the robot is configured to receive a three-dimensional (3D) image of a target anatomy of a patient;
at least one radiofrequency (RF) transmitter configured to emit one or more RF signals, the at least one RF transmitter being coupled to the effectuator element;
a motor assembly coupled to the robot, the motor assembly being configured to move the effectuator element along one or more of a first x-axis, a first y-axis, and a first z-axis such that movement of the effectuator element along one of the first x-, y-, or z-axes occurs independently of movement of the effectuator element along the other axes of the first x-, y-, and z-axes,
a plurality of RF receivers configured to receive the one or more RF signals emitted by the at least one RF transmitter; and
a control unit operatively coupled to the motor assembly and the plurality of RF receivers, the control unit configured to operatively control the motor assembly to selectively move the effectuator element along at least one of the first x-, y-, and z-axes, the control unit being further configured to
(i) calculate a position, relative to the target anatomy of the patient, of the at least one RF transmitter coupled to the effectuator element by analyzing a time of flight of the one or more signals to the plurality of RF receivers in relation to a known distance between each of the plurality of RF receivers and 3D images of the target anatomy of this patient;
(ii) display the position of the at least one RF transmitter on the 3D image of the target anatomy of the patient;
(iii) enable selection of a desired trajectory of the effectuator element or instruments an coupled thereto; and
(iv) selectively control actuation of the motor assembly based upon the desired trajectory selection and in response to the one or more RF signals received by the plurality of RF receivers.

14. The system of claim 13 , wherein the desired trajectory can be selected on a computer device independent of the system.

15. The system of claim 14 , wherein the computer device comprises at least one of a tablet computer, a laptop computer, and a smartphone.

16. The system of claim 13 , wherein the effectuator element comprises a tube to which the instruments can be coupled.

17. The system of claim 13 , wherein the plurality of RF receivers comprises at least three RF receivers.

18. The system of claim 13 , wherein the control unit is configured to receive the one or more RF signals from the plurality of RF receivers in an iterative fashion.

19. The system of claim 13 , wherein the control unit is configured to receive the one or more RF signals from the plurality of RF receivers in a dynamic fashion.

20. The system of claim 13 , wherein the control unit is configured to allow a user to pick a desired location within the patient's body and to dynamically provide information that allows the motor assembly to move the effectuator element to the desired location.

21. The system of claim 13 , wherein the at least one RF transmitter is operatively coupled to the control unit, and wherein the control unit is configured to cause the at least one RF transmitter to emit RF signals at one or more selected times.

22. The system of claim 13 , wherein the control unit is configured to cause the at least one RF transmitter to emit RF signals at a

Assignees

• Globus Medical Inc
• Globus Medical Inc

Inventors

• Crawford Neil R
• Theodore Nicholas
• Foster Mitchell A

Classifications

• A61B90/98

  using electromagnetic means, e.g. transponders · CPC title

• A61B90/11

  with guides for needles or instruments, e.g. arcuate slides or ball joints · CPC title

• A61B17/17

  Guides {or aligning means} for drills {, mills, pins or wires} · CPC title

• A61B5/064

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

• A61B2090/0811

  for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument · CPC title