Surgical tool systems and methods

• US 10,350,013 B2
• Filed: 05/17/2016
• Issued: 07/16/2019
• Est. Priority Date: 06/21/2012
• Status: Active Grant

• Current Assignee: Globus Medical, Inc.
• Original Assignee: Globus Medical, Inc.
• Inventors: Crawford, Neil R.
• Primary Examiner(s): Chen, Tse W
• Assistant Examiner(s): Hoffman, Joanne M
• Application Number:
  US15/156,903
• Publication Number:
  US 20160331479A1
• Time in Patent Office: 1,155 Days
• CPC Class Codes: A61B 17/1615 Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
• 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 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/034 abutting on parts of the device itself
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/062 penetration depth
• 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 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2505/05 Surgical care
• 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 34/32 operating autonomously
• CPC Class Codes: A61B 5/062 using magnetic field
• 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

Abstract

Medical robot systems, surgical tool assemblies, devices, and methods regarding the same. The medical robot system may include a robot coupled to an end-effector having a guide tube. The robot may be configured for controlled movement and positioning of the end-effector. The system further includes a motor assembly coupled to the robot. The motor assembly may be configured to move the end-effector along one or more of an x-axis, a y-axis, and a z-axis. The surgical instrument is positionable and/or slidable within the guide tube. The surgical instrument includes at least one detectable feature, such as a reflective lens or stripe. A detection device is configured and arranged to detect the at least one detectable feature. The system enables a depth of the surgical instrument in the guide tube to be determined by the at least one detectable feature on the instrument.

Claims

1. A medical robot system, comprising:

a robot coupled to an end-effector, the robot configured for controlled movement and positioning of the end-effector, the end-effector including a guide tube;

a motor assembly coupled to the robot, the motor assembly being configured to move the end-effector along one or more of an x-axis, a y-axis, and a z-axis;

a surgical instrument positionable within the guide tube, the surgical instrument including at least one detectable feature; and

a detection device configured and arranged to detect the at least one detectable feature,

wherein a depth of the surgical instrument in the guide tube is determined by the at least one detectable feature,

wherein the at least one detectable feature comprises a plurality of reflective lens, wherein the plurality of reflective lens form a semi-sphere, and have a radius of curvature terminating at a substantially flat collar or flange, wherein the plurality of reflective lens comprises three reflective lenses arranged around an outer perimeter of a shaft of the surgical instrument.

2. The medical robot system of claim 1, wherein the plurality of reflective lens is embedded in a handle of the surgical tool.

3. The medical robot system of claim 1, wherein the plurality of reflective lens includes at least two reflective lenses, and the at least two reflective lenses are attached to the shaft and connected to one another with a housing.

4. The medical robot system of claim 1, wherein the at least one detectable feature comprises at least one reflective stripe.

5. The medical robot system of claim 4, wherein the at least one reflective stripe is arranged around an outer perimeter of a shaft of the surgical instrument.

6. The medical robot system of claim 4, wherein the at least one reflective stripe is positioned proximate to a handle of the surgical instrument.

7. The medical robot system of claim 4, wherein the at least one reflective stripe is formed of a paint containing reflective glass powder.

8. A medical robot system, comprising:

a robot coupled to an end-effector, the robot configured for controlled movement and positioning of the end-effector, the end-effector including a guide tube;

a motor assembly coupled to the robot, the motor assembly being configured to move the end-effector along one or more of an x-axis, a y-axis, and a z-axis;

a surgical instrument positionable within the guide tube, the surgical instrument including at least one detectable feature; and

a detection device configured and arranged to detect the at least one detectable feature,

wherein a depth of the surgical instrument in the guide tube is determined by the at least one detectable feature,

wherein the at least one detectable feature is an optically graduated coating that includes a graduation in light reflectivity extending from a proximal end of the surgical instrument to a darker region adjacent the distal end of the surgical instrument, wherein the plurality of reflective lens comprises three reflective lenses arranged around an outer perimeter of a shaft of the surgical instrument.