Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

• US 8,560,118 B2
• Filed: 04/16/2008
• Issued: 10/15/2013
• Est. Priority Date: 04/16/2007
• Status: Active Grant

• Current Assignee: Deerfield Imaging Incorporated
• Original Assignee: Neuroarm Surgical Ltd. (IMRIS Inc.)
• Inventors: Greer, Alexander, Sutherland, Garnette, Fielding, Tim, Newhook, Perry
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US12/596,426
• Publication Number:
  US 20100198402A1
• Time in Patent Office: 2,008 Days
• Field of Search: 606/139, 600/245, 382/131, 700/247, 700/257, 700/250, 703/1, 703/6, 901/41, 901/49
• US Class Current: 700/247
• CPC Class Codes: A61B 2017/00911 for fields applied by a magnetic resonance imaging system
• CPC Class Codes: A61B 2034/101 Computer-aided simulation of surgical operations
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/14 Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 2219/36432 By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
• CPC Class Codes: G05B 2219/40128 Virtual tether, line on display connects end effector to destination point
• CPC Class Codes: G05B 2219/40399 Selection of master-slave operation mode
• CPC Class Codes: G05B 2219/40418 Presurgical planning, on screen indicate regions to be operated on
• CPC Class Codes: G05B 2219/45117 : Medical, radio surgery manipulator
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 30/40 : for processing medical images, e.g. editing

Abstract

Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot'"'"'s movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot'"'"'s movement to produce the single axis movement. The tool'"'"'s movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.

Claims

1. A computer system configured to perform at least the following functions:

receive a command to restrict movement of a tool operatively associated with a robotic arm along a single axis, the robotic arm being configured for use in surgery;

receive a first dataset defining a first position and first orientation of an input device, the input device being disengageably linked with the robotic arm through a master-slave relationship in which the input device is the master;

receive a second dataset defining a second position and second orientation of the input device;

determine a component of the difference between the first position and first orientation of the input device and the second position and second orientation of the input device along one axis, the one axis related by a transformation to the single axis; and

send one or more signals to effect a move of the tool, the move effected using the component and the transformation, whereby the move is restricted to along the single axis.

2. The computer system of claim 1, further configured to perform at least the following:

receive data sufficient to enable determination of a position of a portion of the tool and an orientation of the tool, the tool having a longitudinal axis, wherein the single axis of is defined relative to the longitudinal axis of the tool; and

receive a move command to move the tool;

wherein the one or more signals to effect the move of the tool are sent in response to the move command.

3. The computer system of claim 1, wherein the computer system is useful in simulating, planning and/or executing an automated surgical procedure, and wherein the computer system is further configured to perform at least the following functions:

receive data designating a target location for the tool based on the first dataset;

receive data designating a second location for the tool based on the second dataset; and

receive an automate command to begin an automated movement of the tool, wherein the one or more signals are sent in response to the automate command and the move effected is the automated movement of the tool, and wherein the single axis along which the tool moves is defined by the second location and the target location.

4. The computer system of claim 3, further configured to receive engagement data indicating the input device has been engaged with or disengaged from the robotic arm and wherein the move occurs only if the engagement data received indicates the input device is engaged with the robotic arm.

5. The computer system of claim 3, further configured to perform at least the following function:

cause manipulation of the tool at the target location.

6. The computer system of claim 3, further configured to perform at least the following functions:

display a simulated representation of the tool;

display a three-dimensional representation of a portion of a subject;

prior to receiving the data designating the second location, display a trajectory planning line extending from the target location to a tip of the simulated representation of the tool overlaid on the three-dimensional representation of the portion of the subject; and

move the trajectory planning line in response to input from an input device linked to the simulated representation of the tool.

7. The computer system of claim 6, further configured to perform at least the following function:

display in addition to the simulated representation of the tool, an indicator showing a path from the second location to the target location.

8. A computer readable medium having stored thereon machine readable instructions for performing at least the functions of claim 3.

9. The computer system of claim 3, wherein the one or more signals sent in response to the automate command effect the automated movement at a pre-determined rate, which is distinct from a real-time response to manipulation of the input device.

10. The computer system of claim 3, wherein the computer system is further configured to receive a command to stop the automated movement before the automated movement is complete.

11. The computer system of claim 3, further configured to perform at least the following functions:

display a simulated representation of the robotic arm;

display a simulated representation of the tool;

receive a command to operate in a simulation mode, wherein in simulation mode the input device can be reversibly linked to the simulated representation of the robotic arm;

display a first two-dimensional (2D) image of a portion of a subject;

display an indicator of the target location overlaid on the 2D image;

move the indicator of the target location in response to input from the input device, wherein the input device is linked to the simulated representation of the tool;

display a three-dimensional (3D) representation of a portion of the subject having the simulated representation of the tool overlaid on the 3D representation such that a tip of the tool or a line extending from the tool is shown in the same relative location as the indicator of the target location;

move the tip of the tool or the line in response to the input from the input device; and

alter the 3D representation in response to the input from the input device.

12. The computer system of claim 11, further configured to display a second 2D image of a portion of the subject.

13. The computer system of claim 1, wherein determining the component of the difference along the one axis comprises determining a delta value between the first dataset and the second dataset in the one axis, and

wherein the computer system is further configured to perform the following function:

determine a corresponding delta value for the tool in the single axis based on the delta value in the one axis.

14. The computer system of claim 13, wherein determining the corresponding delta value comprises zeroing all non-single axis parameters received from the input device.

15. The computer system of claim 13, wherein determining the corresponding delta value comprises determining delta values in more than one axis and selecting, from these delta values, the corresponding delta value in the single axis.