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Method and system for performing invasive medical procedures using a surgical robot

  • US 9,078,685 B2
  • Filed: 07/05/2012
  • Issued: 07/14/2015
  • Est. Priority Date: 02/16/2007
  • Status: Active Grant
First Claim
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1. A system for performing an invasive medical procedure, comprising:

  • a robot comprising;

    an instrument;

    an effectuator element, the effectuator element configured to securely hold the instrument at a desired position;

    a motor assembly that is configured to move the effectuator element in each one of the x, y and z directions; and

    a control unit that is operatively coupled to the robot,wherein the control unit is configured to transmit signals to the robot to cause the motor assembly to selectively move the effectuator element along the x, y and z directions, the control unit being configured (i) to calculate a position of a transmitter affixed to the instrument by analysis of signals emitted by the transmitter (ii) display a position of the instrument with respect to a patient'"'"'s body based on the calculated position of the transmitter and (iii) to control actuation of the motor assemblywherein the transmitter is affixed at a desired location of the instrument and the control unit is configured to selectively energize the transmitter to ablate tissue and cause at least a portion of the instrument to move in a desired direction.

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