Surgical robot platform

• US 9,782,229 B2
• Filed: 06/21/2013
• Issued: 10/10/2017
• Est. Priority Date: 02/16/2007
• Status: Active Grant

• Current Assignee: Excelsius Surgical, LLC (Globus Medical, Inc.), Globus Medical, Inc.
• Original Assignee: Globus Medical, Inc.
• Inventors: Crawford, Neil R., Theodore, Nicholas, Foster, Mitchell A
• Primary Examiner(s): Kahelin, Michael
• Assistant Examiner(s): HOFFA, ANGELA MARIE
• Application Number:
  US13/924,505
• Publication Number:
  US 20130345718A1
• Time in Patent Office: 1,572 Days
• Field of Search: 600424, 700245, 700253
• CPC Class Codes: A61B 10/02 Instruments for taking cell samples or for biopsy A61B10/0038 and A61B10/0045 take precedence; needle locating or guiding means A61B17/3403; samplers for enzymology or microbiology C12M1/26; sampling or preparing biological specimens G01N33/48
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 10/0275 with sample notch, e.g. on the side of inner stylet
• CPC Class Codes: A61B 17/025 Joint distractors
• CPC Class Codes: A61B 17/1615 Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
• CPC Class Codes: A61B 17/1671 for the spine
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1757 for the spine
• CPC Class Codes: A61B 17/7082 for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws driving other bone screws A61B17/8875
• CPC Class Codes: A61B 17/8866 for gripping or pushing bones, e.g. approximators joint distractors A61B17/025
• CPC Class Codes: A61B 2010/0208 Biopsy devices with actuators, e.g. with triggered spring mechanisms
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/0256 for the spine
• 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• 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 2034/741 : Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2034/742 : Joysticks
• CPC Class Codes: A61B 2034/743 : Keyboards
• CPC Class Codes: A61B 2034/744 : Mouse
• CPC Class Codes: A61B 2090/034 : abutting on parts of the device itself
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/0811 : for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/374 : NMR or MRI
• CPC Class Codes: A61B 2090/3762 : using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3764 : with a rotating C-arm having a cone beam emitting source
• CPC Class Codes: A61B 2090/378 : using ultrasound
• CPC Class Codes: A61B 2090/3937 : Visible markers
• CPC Class Codes: A61B 2090/3941 : Photoluminescent markers
• CPC Class Codes: A61B 2090/3945 : Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/395 : with marking agent for marking skin or other tissue
• CPC Class Codes: A61B 2090/3966 : Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2090/3975 : active
• CPC Class Codes: A61B 2090/3979 : infrared
• CPC Class Codes: A61B 2090/3983 : Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• 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 34/32 : operating autonomously
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 46/20 : specially adapted for patients
• CPC Class Codes: A61B 5/061 : Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/062 : using magnetic field
• CPC Class Codes: A61B 5/064 : using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/066 : Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 50/13 : Trolleys, e.g. carts
• 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 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/96 : using barcodes
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: A61M 5/172 : electrical or electronic A61M5/16804, A61M5/16831 take precedence
• CPC Class Codes: A61N 1/0529 : Electrodes for brain stimulation
• CPC Class Codes: B25J 9/1065 : with parallelograms

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.

Claims

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.

2. The system of claim 1, wherein the effectuator element comprises a tube having a pitch axis, a roll axis and a tube axis defining an axis of rotation of the tube.

3. The system of claim 1, wherein the effectuator element comprises a needle.

4. The system of claim 1, wherein the plurality of RF receivers comprises at least three RF receivers.

5. The system of claim 1, wherein the control unit is configured to receive the one or more RF signals from the plurality of RF receivers in an iterative fashion.

6. The system of claim 1, wherein the control unit is configured to receive the one or more RF signals from the plurality of RF receivers in a dynamic fashion.

7. The system of claim 1, wherein the control unit is configured to allow a user to pick the desired location within the patient'"'"'s body and to dynamically provide information that allows the motor assembly to move the effectuator element to the desired location.

8. The system of claim 1, wherein the at least one RF transmitter is operatively coupled to the control unit, and wherein the control unit is configured to cause the at least one RF transmitter to emit RF signals at one or more selected times.

9. The system of claim 1, wherein the at least one RF transmitter comprises at least three RF transmitters.

10. The system of claim 1, wherein the at least one RF transmitter comprises a plurality of RF transmitters, wherein the effectuator element has an outer surface, and wherein the plurality of RF transmitters are radially spaced about the outer surface of the effectuator element.

11. The system of claim 1, wherein the at least one RF transmitter comprises a plurality of RF transmitters, wherein a distal end of the effectuator element defines a leading edge, and wherein at least one of the plurality of RF transmitters is located on the leading edge of the effectuator element.

12. The system of claim 1, wherein the control unit is configured to cause the at least one RF transmitter to emit RF signals at a selected frequency.

13. 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 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.

14. The system of claim 13, wherein the desired trajectory can be selected on a computer device independent of the system.

15. The system of claim 14, wherein the computer device comprises at least one of a tablet computer, a laptop computer, and a smartphone.

16. The system of claim 13, wherein the effectuator element comprises a tube to which the instruments can be coupled.

17. The system of claim 13, wherein the plurality of RF receivers comprises at least three RF receivers.

18. The system of claim 13, wherein the control unit is configured to receive the one or more RF signals from the plurality of RF receivers in an iterative fashion.

19. The system of claim 13, wherein the control unit is configured to receive the one or more RF signals from the plurality of RF receivers in a dynamic fashion.

20. The system of claim 13, wherein the control unit is configured to allow a user to pick a desired location within the patient'"'"'s body and to dynamically provide information that allows the motor assembly to move the effectuator element to the desired location.

21. The system of claim 13, wherein the at least one RF transmitter is operatively coupled to the control unit, and wherein the control unit is configured to cause the at least one RF transmitter to emit RF signals at one or more selected times.

22. The system of claim 13, wherein the control unit is configured to cause the at least one RF transmitter to emit RF signals at a selected frequency.

23. The system of claim 13, wherein the at least one RF transmitter comprises at least three RF transmitters.

24. The system of claim 13, wherein the at least one RF transmitter comprises a plurality of RF transmitters, wherein the effectuator dement has an outer surface, and wherein the plurality of RF transmitters is radially spaced about the outer surface of the effectuator element.

25. The system of claim 13, wherein the at least one RF transmitter comprises a plurality of RF transmitters, wherein a distal end of the effectuator element defines a leading edge, and wherein at least one of the plurality of RF transmitters is located on the leading edge of the effectuator element.