Surgical tool systems and method

• US 10,357,184 B2
• Filed: 10/24/2013
• Issued: 07/23/2019
• Est. Priority Date: 06/21/2012
• Status: Active Grant

• Current Assignee: Excelsius Surgical, LLC (Globus Medical, Inc.), Globus Medical, Inc.
• Original Assignee: Globus Medical, Inc.
• Inventors: Crawford, Neil R., Theodore, Nicholas, Foster, Mitchell A
• Primary Examiner(s): Chen, Tse W
• Assistant Examiner(s): Hoffman, Joanne M
• Application Number:
  US14/062,707
• Publication Number:
  US 20140275955A1
• Time in Patent Office: 2,098 Days
• CPC Class Codes: A61B 10/02 Instruments for taking cell samples or for biopsy A61B10/0038 and A61B10/0045 take precedence; needle locating or guiding means A61B17/3403; samplers for enzymology or microbiology C12M1/26; sampling or preparing biological specimens G01N33/48
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 10/0275 with sample notch, e.g. on the side of inner stylet
• CPC Class Codes: A61B 17/025 Joint distractors
• 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 17/1671 for the spine
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1757 for the spine
• CPC Class Codes: A61B 17/7082 for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws driving other bone screws A61B17/8875
• CPC Class Codes: A61B 17/8866 for gripping or pushing bones, e.g. approximators joint distractors A61B17/025
• CPC Class Codes: A61B 2010/0208 Biopsy devices with actuators, e.g. with triggered spring mechanisms
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/0256 for the spine
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 2034/301 : for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/741 : Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2034/742 : Joysticks
• CPC Class Codes: A61B 2034/743 : Keyboards
• CPC Class Codes: A61B 2034/744 : Mouse
• CPC Class Codes: A61B 2090/034 : abutting on parts of the device itself
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• 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 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/374 : NMR or MRI
• CPC Class Codes: A61B 2090/3762 : using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3764 : with a rotating C-arm having a cone beam emitting source
• CPC Class Codes: A61B 2090/378 : using ultrasound
• CPC Class Codes: A61B 2090/3937 : Visible markers
• CPC Class Codes: A61B 2090/3941 : Photoluminescent markers
• CPC Class Codes: A61B 2090/3945 : Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/395 : with marking agent for marking skin or other tissue
• CPC Class Codes: A61B 2090/3966 : Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2090/3975 : active
• CPC Class Codes: A61B 2090/3979 : infrared
• CPC Class Codes: A61B 2090/3983 : Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• 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 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/32 : operating autonomously
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 46/20 : specially adapted for patients
• CPC Class Codes: A61B 5/061 : Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• 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 5/066 : Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 50/13 : Trolleys, e.g. carts
• CPC Class Codes: A61B 90/11 : with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/14 : Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/96 : using barcodes
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: A61M 5/172 : electrical or electronic A61M5/16804, A61M5/16831 take precedence
• CPC Class Codes: A61N 1/0529 : Electrodes for brain stimulation
• CPC Class Codes: B25J 9/1065 : with parallelograms

Abstract

Embodiments of the invention provide a guided surgical tool assembly with a guide tube including a sensor, a surgical instrument including a detectable feature moveable within the guide tube, and the sensor capable of detecting the detectable feature when the surgical instrument is inserted in the guide tube. Some embodiments include a sensor pad, a guide stop coupled to the surgical instrument, a plunger mechanism including a compressible spring mechanism coupled to the guide tube, and a wiper capable of being sensed by the sensor pad. Some embodiments include a guided surgical tool assembly system comprising a tool sensor system including a processor and at least one data input/output interface. Some embodiments include a medical robot system with a guided surgical tool assembly and including a robot coupled to an effectuator element configured for controlled movement and positioning along one or more of an x-axis, a y-axis, and a z-axis.

Claims

1. A surgical robot system comprising:

a display;

a housing;

an arm; and

a guided surgical tool assembly coupled to the arm, the guided surgical tool assembly comprising;

a rigid guide tube disposed in the guided surgical tool assembly, wherein the rigid guide tube is a single hollow structure including at least one sensor disposed inside the single hollow structure, wherein the rigid guide tube is configured to removably receive one of a plurality of surgical instruments associated with spinal surgery;

a surgical instrument configured to be received within the single hollow structure containing the at least one sensor, the surgical instrument including at least one detectable feature extending longitudinally along the surgical instrument; and

wherein the at least one sensor is configured and arranged to couple with the at least one detectable feature when the surgical instrument is inside the single hollow structure to determine a position of the surgical instrument within the guide tube,

wherein the surgical robot system is configured to calibrate a targeting fixture to a medical image received by the surgical robot system in order track movement of the surgical instrument, receive data indicative of an intended trajectory associated with the medical image, and move the arm and guide surgical tool in accordance with the intended trajectory

wherein the detectable feature includes at least one longitudinal magnetic strip and at least one radial magnetic strip, wherein the at least one longitudinal magnetic strip extends the entire length of the guide tube and the radial magnetic strip is positioned proximal to a first opening and extending the entire circumference of the guide tube.

2. The surgical robot system of claim 1, wherein the detectable feature comprises a magnetically detectable feature for generating a magnetic flux field;

and wherein the sensor is a position sensor for detecting the magnetic flux field.

3. The surgical robot system of claim 1, wherein the position sensor is a magnetic flux field sensor selected from a group consisting of a ferrite-based magnetic material, a rare-earth based magnetic material, an aluminum-nickel-cobalt based magnetic material, and mixtures thereof.

4. The surgical robot system of claim 2, wherein the position sensor is configured and arranged to detect insertion into and movement of the surgical instrument in the guide tube by sensing the magnetically detectable feature.

5. The surgical robot system of claim 1, wherein the guide tube includes at least two position sensors.

6. The surgical robot system of claim 5, wherein the at least two position sensors are configured and arranged to sense a magnetic field flux from the longitudinal magnetic strip or the radial magnetic field strip or both.

7. The surgical robot system of claim 6, wherein a longitudinal position of the surgical instrument in the guide tube can be at least partially determined using a measurement of a magnetic field flux from the longitudinal magnetic strip.

8. The surgical robot system of claim 6, wherein a radial position of the surgical instrument in the guide tube can be at least partially determined using a measurement of a magnetic field flux from the radial magnetic strip.

9. The surgical robot system assembly of claim 1, wherein the detectable feature comprises an optically detectable feature;

and wherein the at least one sensor comprises at least one optical sensor.

10. The surgical robot system assembly of claim 9, wherein the optically detectable feature comprises a high contrast marking distributed along at least a partial longitudinal length of the guided surgical tool assembly.

11. The surgical robot system of claim 10, wherein the at least one optical sensor comprises a light sensitive detector selected from a group consisting of a photodiode, a phototransistor, a fiber-optic sensor, a photo-multiplier, a CCD, a camera, or a combination thereof.

12. The surgical robot system of claim 10, wherein a longitudinal position of the surgical instrument in the guide tube can be at least partially determined by optically sensing light from the high contrast marking using the at least one optical sensor.

13. The surgical robot system of claim 9, wherein the optically detectable feature comprises a graduated coating distributed along at least a length of the guided surgical tool assembly.

14. The surgical robot system of claim 13, wherein the graduated coating comprises a graduated reflective coating.

15. The surgical robot system of claim 13, wherein the graduated coating comprises a graduated color coating.

16. The surgical robot system of claim 13, wherein a longitudinal position of the surgical instrument in the guide tube can be at least partially determined by optically sensing light from the graduated coating using the at least one optical sensor.

17. The surgical robot system of claim 1, wherein the guide tube comprises a distal guide tube end and a proximal guide tube end;

and the surgical instrument includes a distal end and a proximal end; and

wherein the sensor comprises at least one sensor pad; and

wherein the guided surgical tool assembly further comprises;

a guide stop coupled to the proximal end of the surgical instrument; and

a plunger mechanism including a compressible spring mechanism coupled to the distal end of the guide tube and a wiper configured and arranged to be sensed by the at least one sensor pad.

18. The surgical robot system of claim 17, wherein longitudinal movement of the surgical instrument within the guide tube where the guide stop moves toward the proximal end of the guide tube can at least partially compress the spring and move the wiper with respect to the at least one sensor pad.

19. The surgical robot system of claim 17, wherein longitudinal movement of the surgical instrument within the guide tube where the guide stop moves away from the proximal end of the guide tube can at least partially decompress the spring and move the wiper with respect to the at least one sensor pad.

20. A surgical robot system comprising:

a surgical robot having a display, a housing, and an arm;

a guide surgical tool assembly coupled to the arm of the surgical robot, the guide surgical tool assembly comprising;

a tool sensor system including at least one processor and at least one data input/output interface, the data input interface including at least one sensor;

a rigid guide tube disposed in the guide surgical tool assembly, wherein the rigid guide tube is a single hollow structure and the at least one sensor is disposed inside the single hollow structure, wherein the rigid guide tube is configured to removably receive one of a plurality of surgical instruments associated with spinal surgery; and

a surgical instrument configured to be received within the single hollow structure containing the at least one sensor and moveable within the guide tube, the surgical instrument including at least one detectable feature extending longitudinally along the surgical instrument;

wherein the at least one sensor is configured and arranged to couple with the at least one detectable feature when the surgical instrument is inside the single hollow structure to determine a position of the surgical instrument within the guide tube,

wherein the surgical robot system is configured to calibrate a targeting fixture to a medical image received by the surgical robot system in order to track movement of the surgical instrument relative to the medical image, receive data indicative of an intended trajectory associated with the medical image, and move the arm and guide surgical tool in accordance with the intended trajectory

wherein the detectable feature includes at least one longitudinal magnetic strip and at least one radial magnetic strip, wherein the at least one longitudinal magnetic strip extends the entire length of the guide tube and the radial magnetic strip is positioned proximal to a first opening and extending the entire circumference of the guide tube.

21. A surgical robot system of claim 20, wherein the guide tube comprises a distal guide tube end and a proximal guide tube end;

and the surgical instrument includes a distal end and a proximal end; and

wherein the sensor comprises at least one sensor pad; and

wherein the guided surgical tool assembly further comprises;

a guide stop coupled to the proximal end of the surgical instrument; and

a plunger mechanism including a compressible spring mechanism coupled to the distal end of the guide tube and a wiper configured and arranged to be sensed by the at least one sensor pad; and

wherein the at least one processor is configured and arranged to detect the at least one surgical instrument when at least partially inserted or moved in the guide tube.

22. The surgical robot system of claim 20, wherein the detectable feature comprises a magnetically detectable feature configured to generate a magnetic flux field;

and wherein the sensor is a position sensor for detecting the magnetic flux field; and

wherein the position sensor is configured and arranged to detect insertion into and movement of the surgical instrument in the guide tube by sensing the magnetically detectable feature.

23. The surgical robot system of claim 20, wherein the detectable feature comprises an optically detectable feature;

and wherein the at least one sensor comprises at least one optical sensor; and

wherein the optically detectable feature comprises a high contrast marking distributed along length of the guided surgical tool assembly.

24. The surgical robot system of claim 20, wherein the detectable feature comprises an optically detectable feature;

and wherein the at least one sensor comprises at least one optical sensor; and

wherein the optically detectable feature comprises a graduated coating distributed along a length of the guided surgical tool assembly.

25. A surgical robot system of claim 20, wherein the surgical instrument includes at least one tracking sensor.

26. A medical robot system, comprising:

a robot comprising a display, a housing, and an arm, the robot configured for controlled movement and positioning;

an effectuator element coupled to the arm;

a motor assembly coupled to the robot, the motor assembly being configured to move the effectuator element along one or more of an x-axis, a y-axis, and a z-axis such that movement of the effectuator element along one of the x-, y-, or z-axes occurs independently of movement of the effectuator element along the other axes of the x-, y-, and z-axes, wherein the x-axis is perpendicular to the y- and z-axes, the y-axis is perpendicular to the x- and z-axes, and the z-axis is perpendicular to the x- and y axes;

a tool sensor system including at least one processor and at least one data input/output interface, the data input interface including at least one sensor;

a guide tube disposed in the effectuator element, wherein the guide tube is a single hollow structure including the at least one sensor disposed inside the single hollow structure, wherein the guide tube is configured to removably receive one of a plurality of surgical instruments associated with spinal surgery; and

a surgical instrument configured to be received within the single hollow structure containing the at least one sensor and moveable within the guide tube, the surgical instrument including at least one detectable feature extending longitudinally along the surgical instrument;

wherein the at least one sensor is configured and arranged to couple with the at least one detectable feature when the surgical instrument is inside the single hollow structure to determine a position of the surgical instrument within the guide tube; and

wherein the at least one processor is configured and arranged to detect when the surgical instrument is inside the single hollow structure,

wherein the guide tube is rigid and the surgical instrument includes a guide stop that contacts a proximal end of the rigid guide tube to prevent the surgical instrument from extending further,

wherein the surgical robot system is configured to calibrate a targeting fixture to a medical image received by the surgical robot system in order to track movement of the surgical instrument relative to the medical image, receive data indicative of an intended trajectory associated with the medical image, and move the arm and guide surgical tool in accordance with the intended trajectory

wherein the detectable feature includes at least one longitudinal magnetic strip and at least one radial magnetic strip, wherein the at least one longitudinal magnetic strip extends the entire length of the guide tube and the radial magnetic strip is positioned proximal to a first opening and extending the entire circumference of the guide tube.

27. A medical robot system of claim 26, wherein the surgical instrument includes at least one tracking sensor.