SYSTEM FOR ROBOT-ASSISTED MEDICAL TREATMENT

• US 20170319289A1
• Filed: 11/26/2015
• Published: 11/09/2017
• Est. Priority Date: 12/17/2014
• Status: Abandoned Application

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: NEFF, Thomas
• Application Number:
  US15/534,758
• Publication Number:
  US 20170319289A1
• Time in Patent Office: Days
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 5/0082 adapted for particular medical purposes
• CPC Class Codes: A61B 8/0841 for locating instruments
• 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 system (1) and a method for robot-assisted medical treatment of a patient. The system comprises a manipulator (20), a medical visualization device (30), which is mounted on the manipulator (20) in order to be moved by said manipulator; and a medical instrument (40), which is provided with at least one marker (41) in order that the location of the medical instrument (40) can be detected. A control device (10) moves the manipulator such that the visualization device is orientated depending on the location or position of the medical instrument.

Claims

1. A system for robot-assisted medical treatment of a patient;

comprising;

a manipulator, in particular a multiaxial articulated robot,

a medical visualization device, which is mounted on the manipulator in order to be moved by said manipulator;

a medical instrument, which is provided with at least one marker in order that the location of the medical instrument can be detected; and

a control device, which is configured to determine the location of the medical instrument with the aid of the marker and to move the manipulator with the medical visualization device depending on the determined location of the medical instrument.

4. The system according to claim 1, wherein an additional marker is assigned to the medical visualization device in order that the location of the medical visualization device can be detected and the control device is also configured to determine the location of the medical visualization device with the aid of the additional marker.

5. The system according to claim 1, wherein the manipulator is a multiaxial articulated robot, and wherein the axles of the articulated robot are provided with sensors for detecting the forces and/or torques acting on the axles.

6. The system according to claim 5, wherein the control device is configured to control the articulated robot in such a way that the medical visualization device is pressed with a defined force against the body of the patient.

7. The system according to claim 1, wherein the markers are optical markers, and a camera device is also assigned to the control device, which is configured to detect the optical markers and their location in space.

8. The system according to claim 1, wherein the medical visualization device is an ultrasonic probe.

9. The system according to claim 1, wherein the surgical instrument is a biopsy needle.

2. The system according to claim, wherein the control device is configured to move the manipulator with the medical visualization device depending on the location of the medical instrument in such a way that the medical visualization device detects at least a part of the instrument.

3. The system according to claim 2, wherein the control device is configured to move the manipulator with the medical visualization device in such a way that the medical visualization device tracks a movement of the instrument.

14. The system according to claim 2, wherein an additional marker is assigned to the medical visualization device in order that the location of the medical visualization device can be detected and the control device is also configured to determine the location of the medical visualization device with the aid of the additional marker.

15. The system according to claim 2, wherein the manipulator is a multiaxial articulated robot, and wherein the axles of the articulated robot are provided with sensors for detecting the forces and/or torques acting on the axles.

16. The system according to claim 15, wherein the control device is configured to control the articulated robot in such a way that the medical visualization device is pressed with a defined force against the body of the patient.

17. The system according to claim 2, wherein the markers are optical markers, and a camera device is also assigned to the control device, which is configured to detect the optical markers and their location in space.

18. The system according to claim 2, wherein the medical visualization device (30) is an ultrasonic probe.

19. The system according to claim 2, wherein the surgical instrument is a biopsy needle.

10. A method for robot-assisted medical treatment of a patient;

comprising the following steps;

determining the location of a medical visualization device, which is mounted on a manipulator, in particular a multiaxial articulated robot, in order for it to be moved by said manipulator;

determining the location of a medical instrument relative to the location of the medical visualization device;

moving the manipulator with the medical visualization device depending on the relative location of the medical instrument and the medical visualization device.

12. The method according to claim 10, additionally comprising:

defining a target point in space, and

automatic movement of the manipulator when the medical instrument nears the target point, so that the medical visualization device is orientated so as to detect the target point in space.

11. The method according to claim, wherein the movement of the manipulator is realized depending on the relative location of the medical instrument and the medical visualization device in such a way that the medical visualization device detects at least a part of the instrument and follows a movement of this part of the instrument.

13. The method according to claim 11, additionally comprising:

defining a target point in space, and

automatic movement of the manipulator when the medical instrument nears the target point, so that the medical visualization device is orientated so as to detect the target point in space.