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

• US 9,131,986 B2
• Filed: 10/15/2013
• Issued: 09/15/2015
• 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:
  US14/054,664
• Publication Number:
  US 20140114480A1
• Time in Patent Office: 700 Days
• Field of Search: 700/247, 700/257, 700/250, 703/1, 703/6, 901/41, 901/49
• US Class Current: 1/1
• 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 designating a target location for a tool operatively associated with a robotic arm of a medical robot, the robotic arm being configured for use in surgery;

receive a command designating a second location for the tool;

receive a command to begin an automated movement of the tool along a single axis defined by the second and target locations; and

send one or more commands sufficient to cause the robotic arm to effect the automated movement, thereby moving the surgical tool from the second location to the target location, the automated movement occurring at a pre-determined rate which is distinct from a real-time response to manipulation of an input device.

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

display a simulated representation of the surgical tool that includes an indicator showing a path from the second location to the target location.

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

display an image of one or both arms of the medical robot;

receive a command to operate in a simulation mode;

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

display a target location indicator overlaid on the 2D image;

move the target location indicator in response to input from an input device;

display an image representative of a tool overlaid on a three-dimensional representation of a portion of the subject, the tool having a tool tip or a line extending from the tool that is shown in the same relative location as the target location indicator;

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

manipulate the orientation of the 3D representation in response to input from the input device;

receive a command designating a target location for the tool;

receive a command designating the second location for the tool from which the tool will move toward the target location during an automated movement; and

move the medical robot in response to a user command to begin the automated movement such that the tool moves along the single axis defined by the second and target locations.

4. The computer system of claim 3, wherein the tool that moves along the single axis is operatively associated with one of the arms of the medical robot, and the move occurs only if data is received indicating an input device linked in a master-slave relationship to that arm.

5. The computer system of claim 4, 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 function:

display a different 2D image of a portion of the subject in response to user input.

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

receive a command to stop the automated movement before the automated movement is complete.

8. A computer readable medium comprising machine readable instructions for performing at least the functions of claim 1.