Surgical robot platform
First Claim
1. A medical robot system, comprising:
- a robot including a display and an arm;
an end effector coupled to the arm;
a dynamic reference base capable of being coupled to a patient;
an optical tracking system configured to track the position of the arm, the end effector and the reference base; and
a controller coupled to the robot and the optical tracking system, the controller providing image registration data of the patient and the robot system to the display,wherein the optical tracking system includes optical markers positioned on the arm, the reference base and the end effector, and wherein the optical tracking system includes a surveillance marker capable of being coupled to the patient,wherein the controller implements a planned trajectory causing the robot arm to position the end effector along a trajectory vector,wherein an initial distance between the surveillance marker to each of the optical markers located on the reference base is calculated and stored representing vector distances between the surveillance marker and each of the optical markers on the reference base,wherein at each frame of real-time data during a procedure, the controller calculates updated distances between the surveillance marker and each of the optical markers on the reference base, andwherein the updated distances and vector distances are compared and if different, the medical robot system indicates a notification of a loss of movement accuracy.
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Accused Products
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.
767 Citations
20 Claims
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1. A medical robot system, comprising:
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a robot including a display and an arm; an end effector coupled to the arm; a dynamic reference base capable of being coupled to a patient; an optical tracking system configured to track the position of the arm, the end effector and the reference base; and a controller coupled to the robot and the optical tracking system, the controller providing image registration data of the patient and the robot system to the display, wherein the optical tracking system includes optical markers positioned on the arm, the reference base and the end effector, and wherein the optical tracking system includes a surveillance marker capable of being coupled to the patient, wherein the controller implements a planned trajectory causing the robot arm to position the end effector along a trajectory vector, wherein an initial distance between the surveillance marker to each of the optical markers located on the reference base is calculated and stored representing vector distances between the surveillance marker and each of the optical markers on the reference base, wherein at each frame of real-time data during a procedure, the controller calculates updated distances between the surveillance marker and each of the optical markers on the reference base, and wherein the updated distances and vector distances are compared and if different, the medical robot system indicates a notification of a loss of movement accuracy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A medical robot system, comprising:
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a robot including a display and an arm; an end effector coupled to the arm; a dynamic reference base capable of being coupled to a patient; an optical tracking system configured to track the position of the arm, the end effector and the reference base; and a controller coupled to the robot and the optical tracking system, the controller providing image registration data of the patient and the robot system to the display, wherein the optical tracking system includes optical markers positioned on the arm, the reference base and the end effector, and wherein the optical tracking system includes a surveillance marker capable of being coupled to the patient, wherein the controller implements a planned trajectory causing the robot arm automatically to position the end effector along a trajectory vector, wherein the controller is configured to return the end effector to the trajectory vector if the end effector is moved off the planned trajectory, wherein an initial distance between the surveillance marker to each of the optical markers located on the dynamic reference base is calculated and stored representing vector distances between the surveillance marker and each of the optical markers on the reference base, wherein at each frame of real-time data during a procedure, the controller calculates updated distances between the surveillance marker and each of the optical markers on the reference base, and wherein the updated distances and vector distances are compared and if different, the medical robot system indicates a notification of a loss of movement accuracy. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A medical robot system, comprising:
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a robot including a display and an arm; an end effector coupled to the arm; a dynamic reference base capable of being coupled to a patient; an optical tracking system configured to track the position of the arm, the end effector and the reference base; and a controller coupled to the robot and the optical tracking system, the controller providing image registration data of the patient and the robot system to the display, wherein the optical tracking system includes optical markers positioned on the arm, the reference base and the end effector, and wherein the optical tracking system includes a surveillance marker capable of being coupled to the patient, wherein the controller implements a planned trajectory causing the robot arm to position the end effector along the planned trajectory, wherein the controller registers the planned trajectory with data associated with the optical markers and radiographic imaging wherein an initial distance between the surveillance marker to each of the optical markers located on the dynamic reference base is calculated and stored representing vector distances between the surveillance marker and each of the optical markers on the reference base, wherein at each frame of real-time data during a procedure, the controller calculates updated distances between the surveillance marker and each of the optical markers on the reference base, and wherein the updated distances and vector distances are compared and if different, the medical robot system indicates a notification of a loss of movement accuracy.
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Specification