Method and system for performing invasive medical procedures using a surgical robot
First Claim
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1. A system for performing a medical procedure, comprising:
- a robot comprising;
an instrument;
an effectuator element, the effectuator element configured to securely hold the instrument at a position relative to the effectuator element;
a motor assembly that is configured to move the effectuator element in each one of the x, y and z directions; and
a control unit that is operatively coupled to the robot,wherein the control unit is configured to transmit signals to the robot to cause the motor assembly to selectively move the effectuator element along the x, y and z directions without additional user input by selectively energizing a plurality of radiofrequency (RF) transmitters affixed to the instrument, the control unit being, configured (i) to calculate a position of a first transmitter of the plurality of RF transmitters by analysis of signals emitted by the first transmitter (ii) display a position of the instrument with respect to a patient'"'"'s body based on the calculated position of the first transmitter and (iii) to control actuation of the motor assembly,wherein the control unit is configured to move the effectuator element in a direction based, at least in part, on the calculated position of the first transmitter, and wherein the robot includes at least one position encoder configured to determine the location of the instrument to verify the position calculated by the control unit of the first transmitter affixed to the instrument.
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Abstract
A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.
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Citations
14 Claims
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1. A system for performing a medical procedure, comprising:
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a robot comprising; an instrument; an effectuator element, the effectuator element configured to securely hold the instrument at a position relative to the effectuator element; a motor assembly that is configured to move the effectuator element in each one of the x, y and z directions; and a control unit that is operatively coupled to the robot, wherein the control unit is configured to transmit signals to the robot to cause the motor assembly to selectively move the effectuator element along the x, y and z directions without additional user input by selectively energizing a plurality of radiofrequency (RF) transmitters affixed to the instrument, the control unit being, configured (i) to calculate a position of a first transmitter of the plurality of RF transmitters by analysis of signals emitted by the first transmitter (ii) display a position of the instrument with respect to a patient'"'"'s body based on the calculated position of the first transmitter and (iii) to control actuation of the motor assembly, wherein the control unit is configured to move the effectuator element in a direction based, at least in part, on the calculated position of the first transmitter, and wherein the robot includes at least one position encoder configured to determine the location of the instrument to verify the position calculated by the control unit of the first transmitter affixed to the instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for performing a medical procedure, comprising:
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a robot comprising; an instrument positioned at a location; an effectuator element, the effectuator element configured to securely hold the instrument; a motor assembly that that is configured to move the effectuator element in each one of the x, y and z directions; and a control unit that is operatively coupled to the motor assembly, the control unit supplying signals to the robot to cause the motor assembly to selectively move the effectuator element along the x, y and z directions without additional user input by selectively energizing a plurality of radiofrequency (RF) transmitters affixed to the instrument, the control unit being configured (i) to calculate the position of a first transmitter of the plurality of RF transmitters by analysis of signals emitted by the first transmitter (ii) display a position of the instrument with respect to a patient'"'"'s body based on the calculated position of the first transmitter, and (iii) to control actuation of the motor assembly, wherein the control unit is configured to move the effectuator element in a direction based, at least in part, on the calculated position of the first transmitter, and wherein the robot includes at least one position encoder configured to determine the location of the instrument to verify the position calculated by the control unit of the first transmitter affixed to the instrument. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification