Surgical robot platform
First Claim
1. A medical robot system, comprising:
- a robot coupled to an effectuator element, the robot configured for controlled movement and positioning, wherein the robot is configured to receive a three-dimensional (3D) image of a target anatomy of a patient;
at least one radiofrequency (RF) transmitter configured to emit one or more RF signals, the at least one RF transmitter being coupled to an instrument coupled to the effectuator element;
a motor assembly coupled to the robot, the motor assembly being configured to move the effectuator element along one or more of a first x-axis, a first y-axis, and a first z-axis such that movement of the effectuator element along one of the first x-, y-, or z-axes occurs independently of movement of the effectuator element along the other axes of the first x-, y-, and z-axes;
a plurality of RF receivers configured to receive the one or more RF signals emitted by the at least one RF transmitter; and
a control unit coupled to the motor assembly and the plurality of RF receivers, the control unit configured to supply one or more instruction signals to the motor assembly, the instruction signals configured to cause the motor assembly to selectively move the effectuator element along at least one of the first x-, y-, and z-axes, the control unit being further configured to(i) calculate a position, relative to the target anatomy of the patient, of the at least one RF transmitter coupled to the instrument by analyzing a time of flight of the one or more signals to the plurality of RF receivers in relation to a known distance between each of the plurality of RF receivers and the 3D image of the target anatomy of the patient;
(ii) display the position of the at least one RF transmitter on the 3D image of the target anatomy of the patient; and
(iii) selectively control actuation of the motor assembly in response to the one or more RF signals received by the plurality of RF receivers to drive the instrument along a preprogrammed trajectory.
3 Assignments
0 Petitions
Accused Products
Abstract
A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element and is further configured to (i) calculate a position of the at least one transmitter by analysis of the signals received by the plurality of receivers; (ii) display the position of the at least one transmitter with respect to the body of the patient; and (iii) selectively control actuation of the motor assembly in response to the signals received by the plurality of receivers.
612 Citations
25 Claims
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1. A medical robot system, comprising:
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a robot coupled to an effectuator element, the robot configured for controlled movement and positioning, wherein the robot is configured to receive a three-dimensional (3D) image of a target anatomy of a patient; at least one radiofrequency (RF) transmitter configured to emit one or more RF signals, the at least one RF transmitter being coupled to an instrument coupled to the effectuator element; a motor assembly coupled to the robot, the motor assembly being configured to move the effectuator element along one or more of a first x-axis, a first y-axis, and a first z-axis such that movement of the effectuator element along one of the first x-, y-, or z-axes occurs independently of movement of the effectuator element along the other axes of the first x-, y-, and z-axes; a plurality of RF receivers configured to receive the one or more RF signals emitted by the at least one RF transmitter; and a control unit coupled to the motor assembly and the plurality of RF receivers, the control unit configured to supply one or more instruction signals to the motor assembly, the instruction signals configured to cause the motor assembly to selectively move the effectuator element along at least one of the first x-, y-, and z-axes, the control unit being further configured to (i) calculate a position, relative to the target anatomy of the patient, of the at least one RF transmitter coupled to the instrument by analyzing a time of flight of the one or more signals to the plurality of RF receivers in relation to a known distance between each of the plurality of RF receivers and the 3D image of the target anatomy of the patient; (ii) display the position of the at least one RF transmitter on the 3D image of the target anatomy of the patient; and (iii) selectively control actuation of the motor assembly in response to the one or more RF signals received by the plurality of RF receivers to drive the instrument along a preprogrammed trajectory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A medical robot system, comprising:
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a robot coupled to an effectuator element, the robot configured for controlled movement and positioning, wherein the robot is configured to receive a three-dimensional (3D) image of a target anatomy of a patient; at least one radiofrequency (RF) transmitter configured to emit one or more RF signals, the at least one RF transmitter being coupled to the effectuator element; a motor assembly coupled to the robot, the motor assembly being configured to move the effectuator element along one or more of a first x-axis, a first y-axis, and a first z-axis such that movement of the effectuator element along one of the first x-, y-, or z-axes occurs independently of movement of the effectuator element along the other axes of the first x-, y-, and z-axes, a plurality of RF receivers configured to receive the one or more RF signals emitted by the at least one RF transmitter; and a control unit operatively coupled to the motor assembly and the plurality of RF receivers, the control unit configured to operatively control the motor assembly to selectively move the effectuator element along at least one of the first x-, y-, and z-axes, the control unit being further configured to (i) calculate a position, relative to the target anatomy of the patient, of the at least one RF transmitter coupled to the effectuator element by analyzing a time of flight of the one or more signals to the plurality of RF receivers in relation to a known distance between each of the plurality of RF receivers and 3D images of the target anatomy of this patient; (ii) display the position of the at least one RF transmitter on the 3D image of the target anatomy of the patient; (iii) enable selection of a desired trajectory of the effectuator element or instruments an coupled thereto; and (iv) selectively control actuation of the motor assembly based upon the desired trajectory selection and in response to the one or more RF signals received by the plurality of RF receivers. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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Specification