SYSTEM AND METHOD FOR AUTOMATING MEDICAL PROCEDURES

• US 20150057675A1
• Filed: 08/21/2013
• Published: 02/26/2015
• Est. Priority Date: 08/21/2013
• Status: Active Grant

• Current Assignee: Brachium, Inc.
• Original Assignee: Brachium Labs, LLC
• Inventors: Akeel, Hadi, Shehab, Yaz, Wong, George
• Granted Patent: US 9,675,419 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/3612 with images taken automatically
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61C 1/00 Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
• CPC Class Codes: A61C 1/082 Positioning or guiding, e.g. of drills
• CPC Class Codes: A61C 17/00 Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses instruments acting like a sandblast machine A61C3/025; tooth polishing discs or holders therefor A61C3/06; devices for cleaning between the teeth A61C15/00; Saliva removers; Dental appliances for receiving spittle
• CPC Class Codes: A61C 5/30 Securing inlays, onlays or crowns
• CPC Class Codes: A61C 5/40 Implements for surgical treatment of the roots or nerves of the teeth; Nerve needles; Methods or instruments for medication of the roots
• CPC Class Codes: A61C 5/70 Tooth crowns; Making thereof
• CPC Class Codes: A61C 7/002 Orthodontic computer assisted systems
• CPC Class Codes: A61C 7/146 Positioning or placement of brackets; Tools therefor
• CPC Class Codes: A61C 8/0089 Implanting tools or instruments
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

A system and a method for automating a medical process including a memory storing a software program, a computer connected to the memory for running the software program, a display connected to the computer for generating a visual representation of output data generated by the computer running the program, a user interface connected to the computer for obtaining image data representing a configuration of a patient treatment space and fixed markers in the treatment space and storing the image data in the memory, a robot arm connected to the computer, and a medical tool mounted on the robot arm wherein when a human inputs a selected treatment procedure into the computer, the computer runs the software program to generate a tool path based upon the treatment procedure and the image data, and the computer operates the robot arm to move the medical tool along the tool path without human guidance, and wherein the data generated during the treatment procedure is stored, analyzed, and shared among collaborating computer systems.

Claims

1. A system for automating a medical process comprising:

a memory storing a software program;

a computer connected to the memory for running the software program;

a display connected to the computer for generating a visual representation of output data generated by the computer running the program;

a user interface connected to the computer for obtaining image data representing a configuration of a patient treatment space and fixed markers in the treatment space and storing the image data in the memory;

a robot arm connected to the computer; and

a medical tool mounted on the robot arm wherein when a human inputs a selected treatment procedure into the computer, the computer runs the software program to generate a tool path based upon the treatment procedure and the image data, and the computer operates the robot arm to move the medical tool along the tool path.

2. The system according to claim 1 wherein the user interface is one of an imaging wand, a keyboard, a computer mouse, a remote controller, an optical device or a wireless device.

3. The system according to claim 1 including a plurality of sensors mounted on the medical tool providing image feedback to the computer representing a position of the medical tool relative to the markers.

4. The system according to claim 3 wherein the sensors are one or more cameras.

5. The system according to claim 3 wherein the computer alters the tool path in response to movement in the treatment space detected in the image feedback.

6. The system according to claim 1 wherein the computer processes the image data to generate a virtual/physical model of the treatment space.

7. The system according to claim 6 wherein the virtual/physical model is referenced to a local coordinate system based upon the configuration of the treatment space.

8. The system according to claim 1 wherein the treatment space is located in a patient'"'"'s mouth and the treatment procedure is one of imaging the treatment space, milling a tooth, drilling a tooth, placing material, installing a crown, installing orthodontic brackets, dental cleanings, root canals and installing an implant.

9. The system according to claim 1 including a shut-off control connected to the computer and being responsive to actuation by any of a patient initiative, patient movement, external influences or a system malfunction to stop the tool movement and withdraw the medical tool from the treatment space.

10. A method of automatically performing a medical treatment procedure in a treatment space comprising the steps of:

operating an imaging system to obtain image data representing a configuration of a patient treatment space and fixed markers in the treatment space;

generating a virtual/physical model of the treatment space having a local geometric coordinate system;

selecting a treatment procedure to be performed in the treatment space;

generating a tool path for movement of a medical tool carried by a robot arm based upon the treatment procedure and the virtual/physical model;

actuating a computer to operate the robot arm to move the medical tool along the tool path thereby performing the treatment procedure; and

withdrawing the medical tool from the treatment space at the end of the tool path to finish the treatment procedure.

11. The method according to claim 10 including relating the local coordinate system to the fixed markers.

12. The method according to claim 10 wherein the treatment procedure is one of modifying/removal/delivery of hard and soft bodily tissues, materials, prosthetic parts and biomedical devices;

wherein the virtual modeling of the treatment area results in more precise treatments.

13. The method according to claim 10 including storing the tool path and parameters of the treatment procedure including patient data, devices data, providers'"'"' data and materials data in a memory connected to the computer.

14. The method according to claim 13 including analyzing the data by an intelligent learning system to generate possible enhancements to the treatment procedures.

15. The method according to claim 10 including the computer altering the tool path in response to movement in the treatment space detected by a tracking system.

16. The method according to claim 10 including moving the medical tool to a vicinity of the treatment space, locating the markers and moving the medical tool to a start of the tool path based upon positions of the markers.

17. The method according to claim 16 including locating the markers by one of touching the markers with the medical tool and by acquiring an image of the markers with a camera.

18. The method according to claim 10 including displaying representations of the virtual/physical model and the tool path on a display connected to the computer.

19. The method according to claim 18 wherein the tool path is generated by tracing the tool path on the virtual display by means of an input device interacting with the display.

20. The method according to claim 13 wherein the computer stores the data in a central data system and populates a medical database over a data network for sharing with other computers and devices of collaborating professionals.

21. The method according to claim 20 including analyzing the data shared in the central data system by an intelligent learning system to generate possible enhancements to the treatment procedures.

22. A method for populating databases, wherein a computer system operates devices, including data collecting sensors, and performs a procedure comprising the steps of:

connecting the computer system to the devices;

inputting a procedure into the computer system

inputting environment data including data identifying the devices, sensors, and objects and parameters of the procedure, into the computer system;

operating the devices according to the procedure;

collecting operational data from the devices and sensors;

recording outcome data describing the outcome of the procedure;

generating a data set comprising the operational data, the environment data, and the outcome data; and

adding the data set to a database in a memory connected to the computer.

23. The method according to claim 22, wherein the computer stores the data set in a central database system for sharing with other computers and devices contributing other data sets over a network.

24. The method according to claim 23 including analyzing the data sets shared in the central data system by an intelligent learning system to generate possible enhancements to the procedure.