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Methods for performing invasive medical procedures using a surgical robot

  • US 10,531,927 B2
  • Filed: 09/03/2014
  • Issued: 01/14/2020
  • Est. Priority Date: 06/21/2012
  • Status: Active Grant
First Claim
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1. A robot system comprising:

  • an arm coupled to a base;

    a control device configured for reformatting a two-dimensional slice perpendicular to a surgical entry pathway from a computed tomography scan volume of a patient anatomy, wherein the control device is configured to define a perimeter on a pathway through the anatomy; and

    wherein the arm is coupled to a tubular element configured to be placed adjacent to a target anatomy,wherein the tubular element is moved by the arm based on a trajectory inputted into the control device,a drill assembly positioned through the tubular element and configured to remove bone from the pathway in the intersection of the perimeter and the two-dimensional slice,wherein the position of the drill assembly is dynamically updated continuously during the procedure and the robot arm is configured to move the drill assembly without any assistance from a surgeon,wherein the robot system further includes a camera system that in a first position is coupled to the base and in a second position is separate and independent from the base,wherein the camera system includes a wheel base and a plurality of wheels,wherein the control device reformats a two-dimensional slice and iteratively moves a slice plane distally down the surgical entry pathway and distal to the tubular element as the tubular element is advanced,wherein the slice plane is the two-dimensional slice perpendicular to the surgical entry pathway.

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