APPARATUS AND METHOD FOR A GLOBAL COORDINATE SYSTEM FOR USE IN ROBOTIC SURGERY

• US 20150335480A1
• Filed: 12/19/2014
• Published: 11/26/2015
• Est. Priority Date: 04/24/2012
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Surgical Robotics, Inc. (Johnson & Johnson)
• Inventors: Alvarez, Jeffery B., Zhang, Jian, Kintz, Gregory
• Granted Patent: US 10,383,765 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/066 for measuring torque
• CPC Class Codes: A61B 2090/3735 Optical coherence tomography [OCT]
• CPC Class Codes: A61B 3/102 for optical coherence tomography [OCT]
• CPC Class Codes: A61B 3/13 Ophthalmic microscopes
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/0059 using light, e.g. diagnosis by transillumination, diascopy, fluorescence A61B5/0093, A61B5/1455, A61B5/02416 and A61B5/0261 take precedence
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61F 9/00736 Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments A61F9/008 takes precedence

Abstract

An apparatus and method for establishing a global coordinate system to facilitate robotic assisted surgery. The coordinate system may be established using a combination of the robotic data, i.e., kinematics, and optical coherence tomographic images generated by an overhead optical assembly and a tool-based sensor. Using these components, the system may generate a computer-registered three-dimensional model of the patient'"'"'s eye. In some embodiments, the system may also generate a virtual boundary within the coordinate system to prevent inadvertent injury to the patient.

Claims

1. A system for facilitating robotic surgery comprising:

a first mechanical arm configured to facilitate operation of an optical assembly that comprises a first optical coherence tomographical imaging system;

a second mechanical arm operatively coupled to operate a surgical tool, the surgical tool comprising a second optical coherence tomographical imaging system; and

a coordinate system processing unit configured to generate a global coordinate system using optical coherence tomographic data generated by the first optical coherence tomographical imaging system and the second optical coherence tomographical imaging system, and kinematic registration data based on the location of the first mechanical arm, second mechanical arm, and the tool.

2. The system of claim 1, wherein the first mechanical arm is robotically-driven.

3. The system of claim 1, wherein the second mechanical arm is robotically-driven.

4. The system of claim 1, wherein the coordinate system processing unit is further configured to define a virtual boundary for avoiding inadvertent injury to patient tissue and anatomy.

5. The system of claim 4, wherein the virtual boundary restricts movement of the second mechanical arm.

6. The system of claim 4, wherein the movement of the second mechanical arm into the virtual boundary triggers auditory feedback.

7. The system of claim 1, wherein the second optical coherence tomographical system is configured to generate images of tissue topology.

8. The system of claim 1, wherein the optical assembly further comprises a visual light microscope configured for positioning the optical assembly over the eye of a patient.

9. The system of claim 8, wherein the optical assembly further comprises a shared lens stack configured to be used by both the visual light microscope and the first optical coherence tomographical system.

10. A method for facilitating robotic surgery using a global coordinate system comprising:

registering the location of an optical assembly with a predetermined focal length that is operatively coupled to the flange of a mechanical arm;

orienting the optical assembly over a patient'"'"'s eye;

registering the location of the patient'"'"'s eye using the predetermined focal length of the optical assembly;

scanning the patient'"'"'s eye using an optical tomographical system integrated into the optical assembly;

retrieving optical tomographical data;

processing the data to generate a three-dimensional model of the patient'"'"'s eye; and

integrating the three-dimensional model into a global coordinate system that has been registered to the location of the mechanical arm.