Robotic-assisted device for positioning a surgical instrument relative to the body of a patient

• US 9,592,096 B2
• Filed: 11/08/2012
• Issued: 03/14/2017
• Est. Priority Date: 11/30/2011
• Status: Active Grant

• Current Assignee: Medtech S.A. (Zimmer Biomet Holdings, Inc.)
• Original Assignee: Medtech S.A. (Zimmer Biomet Holdings, Inc.)
• Inventors: Maillet, Pierre, Nahum, Bertin, Badano, Fernand, Dehour, Patrick
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US14/361,273
• Publication Number:
  US 20140350571A1
• Time in Patent Office: 1,587 Days
• Field of Search: 600/424, 600/427, 600/443, 700/251, 606/9, 606/130
• US Class Current: 1/1
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2034/2046 Tracking techniques
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: B25J 19/026 Acoustical sensing devices
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: Y10S 901/08 Robot

Abstract

The robotic device for positioning a surgical instrument relative to the body of a patient includes a first robotic arm with a device for rigidly connecting to at least one surgical instrument, a device for anatomical realignment of the first arm by realigning an image that is of an area of the anatomy of the patient, and a device for compensating the movements of the first arm on the basis of detected movements. One version of the device includes at least one second robotic arm having sensors for detecting inner movements of the anatomical area, and a device for controlling the positioning of the first arm relative to sensed inner movements and to the outer movements induced in the second arm.

Claims

1. An automated robotic surgical assistance device for positioning a surgical instrument relative to an anatomical area of a body of a patient, comprising:

a first robotic arm and a receiver disposed at an end of the first robotic arm, the receiver adapted to stably receive at least one surgical instrument, so as to hold and guide the surgical instrument;

a second robotic arm and a sensor disposed at one end, the sensor adapted and configured to be in contact with the anatomical area, the sensor adapted to detect movement in the anatomical area; and

a controller in operative communication with the first robotic arm, the controller adapted to, in response to movement in the anatomical area detected by the sensor, automatically control the position of the first robotic arm, wherein the first robotic arm has a first position, based on an image of the anatomical area acquired previously, to position the surgical instrument along a planned trajectory, the controller further adapted to automatically control the position of the first robotic arm to compensate for movement of the anatomical area relative to the surgical instrument to maintain the position of the surgical instrument along the planned trajectory.

2. The robotic surgical assistance device according to claim 1, further comprising:

a sensor reference for referencing a sensor position of the sensor, wherein the controller is further adapted to automatically control the position of the first robotic arm based on the sensor position of the sensor.

3. The robotic surgical assistance device, according to claim 2, wherein the sensor comprises an ultrasonic sensor for detecting movements in real time through percutaneous measurement, the ultrasonic sensor providing a corresponding sensor position.

4. The robotic surgical assistance device, according to claim 2, wherein the sensor comprises at least one marker attached to the anatomical area, each of the least one marker providing a corresponding sensor position.

5. The robotic surgical assistance device, according to claim 4, wherein each of the at least one marker comprises a signal transmitter element in communication with the sensor, wherein the sensor reference for referencing sensor position comprises a signal receiver element in communication with the sensor, each signal transmitter element of each marker providing each sensor position to the sensor reference for referencing sensor position.

6. The robotic surgical assistance device, according to claim 1, further comprising:

a realignment element engaged to said first robotic arm so as to determine remarkable points on the image for the first position and changed points based on the sensor, wherein the controller is further adapted to automatically control the position of the first robotic arm based on differences between the remarkable points and the changed points.

7. The robotic surgical assistance device, according to claim 6, wherein said realignment element comprises an acquiring element, said acquiring element being an ultrasonic percutaneous recorder.

8. The robotic surgical assistance device, according to claim 7, wherein the differences between the remarkable points and the changed points determined by the realignment element track the movement of the anatomical area in addition to the sensor.

9. The robotic surgical assistance device, according to claim 6, wherein said realignment element comprises an acquiring element, said acquiring element being a fluoroscopic marker.

10. The robotic surgical assistance device, according to claim 1, further comprising:

a force measuring element coupled to the first robotic arm and adapted to detect force exerted by the surgical instrument on the anatomical area.

11. The robotic surgical assistance device, according to claim 1, further comprising:

a pressure force measuring element engaged to the second robotic arm so as to detect force exerted by the sensor on the anatomical area.