Microsurgical robot system
First Claim
1. An interface system comprising:
- a control system configured to manipulate a surgical robot under operator control, the surgical robot comprising at least one robotic arm having multiple joints and multiple degrees of freedom, the multiple joints including a first, second and third yaw joint, the yaw joints operatively linked by a plurality of roll joints, and the control system further configured to receive coordinates of registration targets located near a surgical site, the coordinates obtained using a registration tool operatively connected to the surgical robot at a known location; and
a display system positioned in operative relation with the control system, the display system being configured to display;
an image or image set obtained using a three-dimensional imaging modality;
a plurality of operating parameters;
a field of view of an operating site; and
a magnified view of a surgical site,wherein the control system is further configured to receive positional data for the at least one robotic arm and to register the positional data to the image or image set based on the coordinates.
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Accused Products
Abstract
A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.
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Citations
37 Claims
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1. An interface system comprising:
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a control system configured to manipulate a surgical robot under operator control, the surgical robot comprising at least one robotic arm having multiple joints and multiple degrees of freedom, the multiple joints including a first, second and third yaw joint, the yaw joints operatively linked by a plurality of roll joints, and the control system further configured to receive coordinates of registration targets located near a surgical site, the coordinates obtained using a registration tool operatively connected to the surgical robot at a known location; and a display system positioned in operative relation with the control system, the display system being configured to display; an image or image set obtained using a three-dimensional imaging modality; a plurality of operating parameters; a field of view of an operating site; and a magnified view of a surgical site, wherein the control system is further configured to receive positional data for the at least one robotic arm and to register the positional data to the image or image set based on the coordinates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An interface system comprising:
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a control system configured to manipulate a surgical robot under operator control, the surgical robot comprising at least one robotic arm having multiple joints and multiple degrees of freedom, the multiple joints including a first, second and third yaw joint, the yaw joints operatively linked by a plurality of roll joints, and the control system further configured to receive coordinates of registration targets located near a surgical site, the coordinates obtained using a registration tool operatively connected to the surgical robot at a known location; a display system configured to provide visual feedback from (a) an operating site near which the surgical robot is positioned to (b) an operator of the control system; a communication system that allows audio communication between the operator of the control system and operating personnel located adjacent the operating site; and an auditory feedback system configured to transmit auditory feedback from the operating site to the operator of the control system, wherein the control system is further configured to receive positional data for the at least one robotic arm and to register the positional data to the image or image set based on the coordinates. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37)
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Specification