ROBOTIC-ASSISTED DEVICE FOR POSITIONING A SURGICAL INSTRUMENT RELATIVE TO THE BODY OF A PATIENT

• US 20170202629A1
• Filed: 01/30/2017
• Published: 07/20/2017
• Est. Priority Date: 11/30/2011
• Status: Active Grant

• Current Assignee: Bertin Nahum, Fernand Badano, Patrick Dehour, Pierre Maillet
• Original Assignee: Bertin Nahum, Fernand Badano, Patrick Dehour, Pierre Maillet
• Inventors: MAILLET, Pierre, NAHUM, Bertin, BADANO, Fernand, DEHOUR, Patrick
• Granted Patent: US 10,159,534 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2034/2046 Tracking techniques
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: B25J 19/026 Acoustical sensing devices
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: Y10S 901/08 Robot

Abstract

The robotic device for positioning a surgical instrument relative to the body of a patient includes a first robotic arm with a device for rigidly connecting to at least one surgical instrument, a device for anatomical realignment of the first arm by realigning an image that is of an area of the anatomy of the patient, and a device for compensating the movements of the first arm on the basis of detected movements. One version of the device includes at least one second robotic arm having sensors for detecting inner movements of the anatomical area, and a device for controlling the positioning of the first arm relative to sensed inner movements and to the outer movements induced in the second arm.

Claims

1-7. -7. (canceled)

8. At least one non-transitory machine-readable medium including instructions for positioning a surgical instrument relative to an anatomical area of a body of a patient using an automated robotic surgical assistance system, which when executed by a machine, cause the machine to:

automatically control a first robotic arm including at least one surgical instrument disposed at a distal end of the first robotic arm to position the at least one surgical instrument along a planned trajectory relative to the anatomical area based on a preoperative image of the anatomical area;

receive, via a sensor configured to detect movement in the anatomical area relative to the at least one surgical instrument, an indication of the movement in the anatomical area detected by the sensor relative to the at least one surgical instrument; and

automatically control the first robotic arm, in response to receiving the indication, to compensate for the movement of the anatomical area by maintaining the position of the at least one surgical instrument along the planned trajectory.

9. The machine-readable medium of claim 8, wherein the indication of movement is received from the sensor disposed at a distal end of a second robotic arm.

10. The machine-readable medium of claim 9, wherein the sensor includes a force sensor, and wherein the indication of movement is detected by the force sensor in contact with the anatomical area.

11. The machine-readable medium of claim 9, wherein the sensor includes at least one of an ultrasonic sensor, an optical sensor, an electromagnetic sensor, or a mechanical sensor.

12. The machine-readable medium of claim 9, wherein the second robotic arm is in contact with the anatomical area and moves in response to movement of the anatomical area.

13. The machine-readable medium of claim 12, wherein movement of the second robotic arm is caused by the movement of the anatomical area including by direct force applied by the anatomical area or by using an ultrasonic sensor to detect and cause a distance to be maintained between the second robotic arm and the anatomical area.

14. The machine-readable medium of claim 8, wherein the first robotic arm is controlled in a cooperative mode by a surgeon.

15. The machine-readable medium of claim 8, wherein the first robotic arm is automatically controlled to perform a portion of a surgical procedure without direct contact on the first robotic arm from a surgeon.

16. The machine-readable medium of claim 15 wherein the portion of the surgical procedure is a percutaneous surgical cut.

17. The machine-readable medium of claim 8, wherein the first robotic arm is automatically controlled to maintain a position and an orientation of the first robotic arm relative to the anatomical area.

27. The method of claim 17, further comprising maintaining a position and an orientation of the first robotic arm relative to the anatomical area by automatically controlling the first robotic arm.

18. A method for positioning a surgical instrument relative to an anatomical area of a body of a patient using an automated robotic surgical assistance system, the method comprising:

automatically controlling a first robotic arm including at least one surgical instrument disposed at a distal end of the first robotic arm to position the at least one surgical instrument along a planned trajectory relative to the anatomical area based on a preoperative image of the anatomical area;

receiving, via a sensor configured to detect movement in the anatomical area relative to the at least one surgical instrument, an indication of the movement in the anatomical area detected by the sensor relative to the at least one surgical instrument; and

automatically controlling the first robotic arm, in response to receiving the indication, to compensate for the movement of the anatomical area by maintaining the position of the at least one surgical instrument along the planned trajectory.

19. The method of claim 18, wherein receiving the indication of movement includes receiving the indication of movement from the sensor disposed at a distal end of a second robotic arm.

20. The method of claim 19, wherein the sensor includes a force sensor in contact with the anatomical area, and further comprising detecting the indication of movement using the force sensor.

21. The method of claim 19, wherein the sensor includes at least one of an ultrasonic sensor, an optical sensor, an electromagnetic sensor, or a mechanical sensor.

22. The method of claim 19, wherein the second robotic arm is in contact with the anatomical area and moves in response to movement of the anatomical area.

23. The method of claim 22, wherein movement of the second robotic arm is caused by the movement of the anatomical area including by direct force applied by the anatomical area or by using an ultrasonic sensor to detect and cause a distance to be maintained between the second robotic arm and the anatomical area.

24. The method of claim 18, further comprising:

detecting, using the force sensor, an input movement by a surgeon in a cooperative mode; and

controlling the first robotic arm based on the input movement.

25. The method of claim 18, further comprising performing a portion of a surgical procedure without direct contact on the first robotic arm from a surgeon by automatically controlling the first robotic arm.

26. The method of claim 25 wherein the portion of the surgical procedure is a percutaneous surgical cut.