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

• US 10,172,678 B2
• Filed: 06/03/2015
• Issued: 01/08/2019
• Est. Priority Date: 02/16/2007
• Status: Active Grant

• Current Assignee: Globus Medical, Inc.
• Original Assignee: Globus Medical, Inc.
• Inventors: Smith, David W., DeSanctis-Smith, Regina, Pitt, Alan M., Theodore, Nicholas, Crawford, Neil
• Primary Examiner(s): Hoffa, Angela M
• Application Number:
  US14/729,096
• Publication Number:
  US 20150335386A1
• Time in Patent Office: 1,315 Days
• Field of Search: None
• CPC Class Codes: A61B 17/3478 Endoscopic needles, e.g. for infusion biopsy needles A61B10/0233; catheters with injection needles A61M25/0067
• CPC Class Codes: A61B 17/7076 for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation
• CPC Class Codes: A61B 2017/00057 Light
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/3937 Visible markers
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.

Claims

1. A system for performing a medical procedure, comprising:

a robot comprising;

an instrument;

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

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 without additional user input by selectively energizing a plurality of radiofrequency (RF) transmitters affixed to the instrument, the control unit being, configured (i) to calculate a position of a first transmitter of the plurality of RF transmitters by analysis of signals emitted by the first transmitter (ii) display a position of the instrument with respect to a patient'"'"'s body based on the calculated position of the first transmitter and (iii) to control actuation of the motor assembly,

wherein the control unit is configured to move the effectuator element in a direction based, at least in part, on the calculated position of the first transmitter, and wherein the robot includes at least one position encoder configured to determine the location of the instrument to verify the position calculated by the control unit of the first transmitter affixed to the instrument.

2. The system of claim 1, wherein a position signal is generated by the at least one position encoder to provide the location of the instrument.

3. The system of claim 2 wherein the position signal is generated with one or more of magnetic sensors, capacitive sensors, and optical sensors.

4. The system of claim 1, wherein the location of the instrument is determined relative to a reference position.

5. The system of claim 1, wherein the instrument is configured to have the first transmitter, a second transmitter of the plurality of RF transmitters, and a third transmitter of the plurality of RF transmitters radially distributed around the instrument.

6. The system of claim 1, wherein the instrument is configured to have the first transmitter, a second transmitter of the plurality of RF transmitters, and a third transmitter of the plurality of RF transmitters affixed to a distal end of the instrument.

7. The system of claim 1, wherein the instrument is configured to have the first transmitter, a second transmitter of the plurality of RF transmitters, and a third transmitter of the plurality of RF transmitters located on a leading edge of the instrument.

8. A system for performing a medical procedure, comprising:

a robot comprising;

an instrument positioned at a location;

an effectuator element, the effectuator element configured to securely hold the instrument;

a motor assembly that 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 motor assembly, the control unit supplying signals to the robot to cause the motor assembly to selectively move the effectuator element along the x, y and z directions without additional user input by selectively energizing a plurality of radiofrequency (RF) transmitters affixed to the instrument, the control unit being configured (i) to calculate the position of a first transmitter of the plurality of RF transmitters by analysis of signals emitted by the first transmitter (ii) display a position of the instrument with respect to a patient'"'"'s body based on the calculated position of the first transmitter, and (iii) to control actuation of the motor assembly,

wherein the control unit is configured to move the effectuator element in a direction based, at least in part, on the calculated position of the first transmitter, and

wherein the robot includes at least one position encoder configured to determine the location of the instrument to verify the position calculated by the control unit of the first transmitter affixed to the instrument.

9. The system of claim 8 wherein a position signal is generated by the at least one position encoder to provide the location of the instrument.

10. The system of claim 9 wherein the position signal is generated with one or more of magnetic sensors, capacitive sensors, and optical sensors.

11. The system of claim 8, wherein the location of the instrument is determined relative to a reference position.

12. The system of claim 8, wherein the instrument is configured to have the first transmitter, a second transmitter of the plurality of RF transmitters, and a third transmitter of the plurality of RF transmitters evenly radially distributed around the instrument.

13. The system of claim 8, wherein the instrument is configured to have the first transmitter, a second transmitter of the plurality of RF transmitters, and a third transmitter of the plurality of RF transmitters affixed to a distal end thereof.

14. The system of claim 8, wherein the instrument is configured to have the first transmitter, a second transmitter of the plurality of RF transmitters, and a third transmitter of the plurality of RF transmitters located on a leading edge of the instrument.