System and method for surgical tool insertion using multiaxis force and moment feedback
First Claim
1. A method for detecting expected movement of a surgical instrument of a surgical robot system having a base, at least one arm connected to the base and an end effector adapted to attach to the arm, the end effector having a guide tube through which the surgical instrument is inserted, said method comprising:
- orienting the guide tube by the arm to allow the surgical instrument to reach a desired anatomical target of the patient body;
monitoring one or more forces and one or more moments associated with the insertion force of the surgical instrument, wherein the monitored forces and moments are measured by force sensors mounted to the end effector so as to measure the forces applied to the guide tube relative to the robot system arm;
comparing the monitored forces and moments to a predetermined range or threshold expected for the surgical procedure;
providing a notification, via the robot system, upon detecting that the monitored forces and moments fall outside of the predetermined range or threshold.
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Accused Products
Abstract
Devices, systems, and methods for detecting unexpected movement of a surgical instrument during a robot-assisted surgical procedure are provided. The surgical robot system may be configured to measure forces and torques experienced by the surgical instrument during the surgical procedure and determine if the forces and torques are within an acceptable range. The robot system is further configured to notify the user of the presence of the unexpected movement.
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Citations
15 Claims
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1. A method for detecting expected movement of a surgical instrument of a surgical robot system having a base, at least one arm connected to the base and an end effector adapted to attach to the arm, the end effector having a guide tube through which the surgical instrument is inserted, said method comprising:
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orienting the guide tube by the arm to allow the surgical instrument to reach a desired anatomical target of the patient body; monitoring one or more forces and one or more moments associated with the insertion force of the surgical instrument, wherein the monitored forces and moments are measured by force sensors mounted to the end effector so as to measure the forces applied to the guide tube relative to the robot system arm; comparing the monitored forces and moments to a predetermined range or threshold expected for the surgical procedure; providing a notification, via the robot system, upon detecting that the monitored forces and moments fall outside of the predetermined range or threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A surgical robot system for detecting the expected movement of a surgical instrument associated with the robot system, said robot system comprising:
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a robot base; a robot arm connected to and in electronic communication with the robot base; an end-effector connected to the robot arm and in electronic communication with the robot based, wherein the end-effector comprises one or more load cells and a guide tube, and wherein the one or more load cells are configured to measure forces and moments associated with the guide tube relative to the robot arm so as to measure the insertion force of a surgical instrument disposed in the guide tube, and wherein a processor is configured to receive the measured forces and moments and indicate when the measured forces and moments are outside of an expected range for the measured forces and moments. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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Specification