Microsurgical Robot System

• US 20080161830A1
• Filed: 02/06/2008
• Published: 07/03/2008
• Est. Priority Date: 08/13/2002
• Status: Active Grant

• Current Assignee: Deerfield Imaging Incorporated
• Original Assignee: Neuroarm Surgical Ltd. (IMRIS Inc.)
• Inventors: Fielding, Tim, McBeth, Paul Bradley, Sutherland, Garnette Roy, Gregoris, Dennis John, Louw, Deon Francois
• Granted Patent: US 8,170,717 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00911 for fields applied by a magnetic resonance imaging system
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/374 NMR or MRI
• 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 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/20 Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61B 90/25 Supports therefor
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers

Abstract

A surgical robot that includes at least one robotic arm having multiple joints and at least six degrees of freedom, the robotic arm also including: a magnetic resonance (MR) compatible structural material; multiple MR-compatible joint motors; and multiple MR-compatible joint encoders.

Claims

1. A surgical robot comprising:

at least one robotic arm having multiple joints and at least six degrees of freedom, the robotic arm also including;

a magnetic resonance (MR) compatible structural material;

multiple MR-compatible joint motors; and

multiple MR-compatible joint encoders.

2. The surgical robot of claim 1, where the at least one robotic arm also includes:

an end effector that includes a tool holder configured to hold a surgical tool.

3. The surgical robot of claim 2, where the end effector includes a first actuator configured to roll a surgical tool, if held by the tool holder, about a longitudinal axis.

4. The surgical robot of claim 3, further comprising:

a second robotic arm having multiple joints and at least six degrees of freedom, the second robotic arm also including;

a magnetic resonance (MR) compatible structural material;

multiple MR-compatible joint motors; and

multiple MR-compatible joint encoders.

5. The surgical robot of claim 4, where the second robotic arm also includes:

an end effector that includes a tool holder configured to hold a surgical tool.

6. The surgical robot of claim 5, where the second robotic arm'"'"'s end effector includes a first actuator configured to roll a surgical tool, if held by the tool holder, about a longitudinal axis.

9. The surgical robot of claim 3, further comprising:

a second robotic arm having multiple joints and multiple degrees of freedom, the second robotic arm also including;

a magnetic resonance (MR) compatible structural material;

multiple MR-compatible joint motors;

multiple MR-compatible joint encoders; and

an end effector that includes a tool holder configured to hold a surgical tool.

10. The surgical robot of claim 9, where the second robotic arm'"'"'s end effector includes a first actuator configured to roll a surgical tool, if held by the tool holder, about a longitudinal axis.

7. A surgical robot comprising:

at least one robotic arm having multiple joints and multiple degrees of freedom, the robotic arm also including;

a magnetic resonance (MR) compatible structural material;

multiple MR-compatible joint motors;

multiple MR-compatible joint encoders; and

an end effector that includes a tool holder configured to hold a surgical tool.

8. The surgical robot of claim 7, where the end effector includes a first actuator configured to roll a surgical tool, if held by the tool holder, about a longitudinal axis.

11. A surgical system comprising:

a robot for operating on a patient, the robot including;

at least one robotic arm having multiple joints and multiple degrees of freedom, the robotic arm also including;

a magnetic resonance (MR) compatible structural material;

multiple MR-compatible joint motors;

multiple MR-compatible joint encoders; and

an end effector that includes a tool holder configured to hold a surgical tool; and

a control system configured to;

filter input received from an operator to remove hand tremor and scale the movement of the at least one robotic arm relative to the input.

12. The surgical system of claim 11, where the end effector includes a first actuator configured to roll a surgical tool, if held by the tool holder, about a longitudinal axis.

13. The surgical robot of claim 12, where the robot further comprises:

a second robotic arm having multiple joints and multiple degrees of freedom,

the second robotic arm also including;

a magnetic resonance (MR) compatible structural material;

multiple MR-compatible joint motors;

multiple MR-compatible joint encoders; and

an end effector that includes a tool holder configured to hold a surgical tool; and

where the control system is configured to;

filter input received from an operator to remove hand tremor and scale the movement of the robotic arms relative to the input.

14. The surgical robot of claim 13, where the second robotic arm'"'"'s end effector includes a first actuator configured to roll a surgical tool, if held by the tool holder, about a longitudinal axis.