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Surgical robot platform

  • US 10,485,617 B2
  • Filed: 03/17/2017
  • Issued: 11/26/2019
  • Est. Priority Date: 06/21/2012
  • Status: Active Grant
First Claim
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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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