Infrared signal based position recognition system for use with a robot-assisted surgery

• US 10,231,791 B2
• Filed: 04/22/2016
• Issued: 03/19/2019
• Est. Priority Date: 06/21/2012
• Status: Active Grant

• Current Assignee: Globus Medical, Inc.
• Original Assignee: Globus Medical, Inc.
• Inventors: LeBoeuf, II, Robert J., Olenio, Zachary, Yau, James, Crawford, Neil R.
• Primary Examiner(s): Porta, David P
• Assistant Examiner(s): Gutierrez, Gisselle M
• Application Number:
  US15/135,658
• Publication Number:
  US 20160235493A1
• Time in Patent Office: 1,061 Days
• Field of Search: 2503381
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/034 abutting on parts of the device itself
• CPC Class Codes: A61B 2090/0811 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 Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2560/0437 Trolley or cart-type apparatus
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/96 using barcodes
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

An improved device for regenerating an infrared signal transmitted over the air for use in detecting a 3-dimensional position of an object. The regeneration device includes an infrared signal transmitter and detector that receives from the object a responsive infrared signal in response to the infrared signal transmitted by the transmitter. A low pass filter receives the responsive infrared signal from the detector and outputs a low-pass filtered signal. A comparator compares the output of the infrared signal detector and output of the low pass filter and generates an output representing a logic state based on the comparison.

Claims

1. A surgical robot system comprising:

a robot having a robot base and a display, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm, the end-effector having one or more tracking markers,

wherein movement of the end-effector with respect to the robot base is electronically controlled by the robot;

and a camera stand including at least one camera able to detect the one or more tracking markers, the camera including at least one infrared signal detector that receives from the one or more tracking markers an infrared signal, wherein the robot determines a 3-dimensional position with respect to the camera stand of the one or more tracking markers based on the infrared signal,

wherein the infrared signal includes a burst signal,

and wherein the burst signal is transformed into an amplified signal and a reference signal,

and a regeneration device compares the amplified signal to the reference signal to determine a voltage out waveform mimicking the burst signal to thereby determine the 3-dimensional position of the one or more tracking markers.

2. The system of claim 1, wherein the infrared signal includes a burst pattern including the burst signal for a fixed amount of time and a non-burst signal for a fixed amount of time.

3. The system of claim 1 further comprising at least one infrared signal transmitter attached to a portion of the camera stand that transmits an infrared signal towards the one or more tracking markers whose position is to be determined.

4. The system of claim 3, wherein the at least one infrared signal transmitter transmits an infrared signal comprised of a burst signal, a non-burst signal, or a combination of both.

5. The system of claim 1, wherein the one or more tracking markers in the end-effector are active markers having an active state and an inactive state, the active state emitting the infrared signal.

6. The system of claim 1 further comprising a surgical instrument having one or more tracking markers to be tracked by the robot system, the surgical instrument configured to be positioned in the end-effector in order to align the surgical instrument along a given trajectory for a surgical procedure.

7. The system of claim 1, wherein the infrared signal is generated by an infrared signal transmitter that transmits a transmitted infrared signal over the air towards the one or more tracking markers whose position is to be determined.

8. The system of claim 7, wherein the infrared signal is a responsive infrared signal, and the infrared signal detector receives from the one or more tracking markers the responsive infrared signal in response to the transmitted infrared signal.

9. The system of claim 8, wherein a low pass filter receives the responsive infrared signal and outputs a filtered signal.

10. The system of claim 9, wherein a comparator generates a comparator output representing a logic state based on a first input receiving the responsive infrared signal and a second input receiving the filtered signal from the low pass filter.

11. The system of claim 10, further comprising a signal processor adapted to receive the comparator output and determine a 3-dimensional position of the one or more tracking markers.

12. The system of claim 9, further comprising an amplifier coupled between the infrared signal detector and the low pass filter.

13. The system of claim 9, further comprising an amplifier coupled between the infrared signal detector and the low pass filter and operable to generate an amplified responsive infrared signal;

and a diode connected between the amplifier and the low pass filter to reduce the voltage of the amplified responsive infrared signal by a predetermined amount.

14. The system of claim 13, wherein the diode has a forward bias voltage of 0.4 Volt or less.

15. The system of claim 9, further comprising a diode connected between the amplifier and the low pass filter, wherein the low pass filter includes a capacitor coupled between the diode and ground.

16. The system of claim 15, wherein the low pass filter includes a voltage divider having first and second resistors connected in series between the output of the infrared signal detector and ground, a node between the first and second resistors defining an output of the voltage divider;

and a capacitor coupled between the voltage divider output and ground.

17. A surgical robot system comprising:

a robot having a robot base and a display, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm, the end-effector having one or more tracking markers, wherein movement of the end-effector with respect to the robot base is electronically controlled by the robot;

a regeneration device including an infrared signal detector for detecting an infrared signal including a burst signal, an amplifier, a diode, a low pass filter, and a comparator, the infrared signal detector connected to an amplifier, the amplifier connected to the diode, the diode connected to the low pass filter, and the low pass filter connected to the comparator, wherein the comparator compares an output of the infrared signal detector and an output of the low pass filter and generates an output representing a voltage out waveform;

and a camera stand including at least one camera able to detect the one or more tracking markers, the camera including the infrared signal detector that receives from the one or more tracking markers the infrared signal, wherein the robot determines a 3-dimensional position with respect to the camera stand of the one or more tracking markers based on the voltage out waveform from the comparator.