US-12616536-B2 - Robotic surgical system with floating patient mount

US12616536B2US 12616536 B2US12616536 B2US 12616536B2US-12616536-B2

Abstract

A system includes a robot mounted to a movable base, the robot including one or more robotic arms. The system monitors, by one or more measurement devices, one or more parameters associated with an object. The system adjusts a pose of the robot based on the one or more parameters satisfying one or more criteria. The system outputs an alert based on the one or more parameters satisfying one or more second criteria. The system performs a registration process associated with the object and the robot, based on the one or more parameters satisfying the one or more second criteria. The one or more measurement devices include a mechanical measurement device that maintains a non-rigid connection between the robot and the object. The one or more measurement devices include an optical measurement device, an acoustic transducer, or a multi-sensor device.

Inventors

Amir KERET
Ziv Seemann
Nimrod Dori
Ron Visbrot
Adi Sandelson
Dvir Kadshai

Assignees

MAZOR ROBOTICS LTD.

Dates

Publication Date: 20260505
Application Date: 20220502

Claims (14)

1 . A system, comprising: a robot mounted to a base that is movable relative to a patient, the robot comprising one or more robotic arms; a first mechanical attachment to connect to an anatomical element of the patient, a second mechanical attachment to detachably connect to a first end of the first mechanical attachment, and a third mechanical attachment that enables a non-rigid connection between the second mechanical attachment and the robot; a processor; a memory in electronic communication with the processor; and instructions stored in the memory, the instructions being executable by the processor to cause the processor to: monitor one or more parameters associated with movement of or force exerted on the anatomical element; determine, during the monitoring, that the one or more parameters satisfy one or more criteria associated with the movement of or the force exerted on the anatomical element; and control, in response to the determination: the second mechanical attachment to detach from the first mechanical attachment; and a pose of the robot to be adjusted relative to the patient.
2 . The system of claim 1 , wherein controlling the pose of the robot to be adjusted comprises at least one of: adjusting a position of the robot or a position of the one or more robotic arms; and adjusting an orientation of the robot or an orientation of the one or more robotic arms, or both.
3 . The system of claim 1 , wherein the instructions are further executable by the processor to at least one of: output an alert based on the one or more parameters satisfying one or more second criteria; and perform a registration process associated with the anatomical element and the robot based on the one or more parameters satisfying the one or more second criteria.
4 . The system of claim 1 , wherein: the one or more parameters comprise at least one of movement information, positional information, and orientation information associated with the anatomical element.
5 . The system of claim 1 , wherein: the one or more parameters comprise positional information associated with the anatomical element; and the one or more criteria comprise a displacement threshold with respect to reference positional information associated with the anatomical element.
6 . The system of claim 1 , wherein the first mechanical attachment remains connected to the anatomical element after detaching from the second mechanical attachment.
7 . The system of claim 1 , further comprising: one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to the robot, the one or more robotic arms, or both.
8 . The system of claim 1 , further comprising at least one of: a first acoustic transducer coupled to the robot or the one or more robotic arms; and a second acoustic transducer coupled to the anatomical element.
9 . The system of claim 1 , further comprising: a multi-sensor device coupled to the anatomical element.
10 . The system of claim 9 , wherein the multi-sensor device is a monolithic integrated multi-sensor (MIMS) device comprising at least one of: a gyroscope; and an accelerometer.
11 . The system of claim 1 , wherein the second mechanical attachment is further coupled with at least one robotic arm of the one or more robotic arms, and wherein the instructions are further executable by the processor to: detect that the first mechanical attachment has been reattached with the second mechanical attachment; and automatically perform a registration between the anatomical element and the at least one robotic arm upon detecting that the first mechanical attachment has been reattached with the second mechanical attachment.
12 . An apparatus, comprising: a robot, the robot comprising one or more robotic arms; a movable base coupled to the robot to enable movement of the robot relative to a patient; a first mechanical attachment to connect to an anatomical element of the patient, a second mechanical attachment to detachably connect to a first end of the first mechanical attachment, and a third mechanical attachment that enables a non-rigid connection between the second mechanical attachment and the robot; a processor; a memory in electronic communication with the processor; and instructions stored in the memory, the instructions being executable by the processor to: monitor one or more parameters associated with movement of or force exerted on the anatomical element; determine, during the monitoring, that the one or parameters satisfy one or more criteria associated with the movement of or the force exerted on the anatomical element; and control, in response to the determination: the second mechanical attachment to detach from the first mechanical attachment; and a pose of the robot to be adjusted relative to the patient.
13 . The apparatus of claim 12 , wherein the first mechanical attachment remains connected to the anatomical element after detaching from the second mechanical attachment, and wherein the second mechanical attachment is further configured to detach from the first mechanical attachment when a second force value measured at the anatomical element exceeds a second threshold force value.
14 . The apparatus of claim 12 , further comprising at least one of: one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to the robot, the one or more robotic arms, or both; one or more acoustic transducers, wherein the one or more acoustic transducers are coupled to the robot, the one or more robotic arms, the anatomical element, or a combination thereof; and a multi-sensor device coupled to the anatomical element.

Description

FIELD The present disclosure is generally directed to surgical systems, and relates more particularly to robotic surgical devices. BACKGROUND Surgical robots may assist a surgeon or other medical provider in carrying out a surgical procedure, or may complete one or more surgical procedures autonomously. Providing controllable linked articulating members allows a surgical robot to reach areas of a patient anatomy during various medical procedures. BRIEF SUMMARY Example Aspects of the Present Disclosure Include A system including: a robot mounted to a movable base, the robot including one or more robotic arms; one or more measurement devices; a processor; and memory in electronic communication with the processor; and instructions stored in the memory, the instructions being executable by the processor to: monitor, by the one or more measurement devices, one or more parameters associated with an object; and adjust a pose of the robot based on the one or more parameters satisfying one or more criteria. Any of the aspects herein, wherein adjusting the pose of the robot includes at least one of: adjusting a position of the robot or a position of the one or more robotic arms; and adjusting an orientation of the robot or an orientation of the one or more robotic arms, or both. Any of the aspects herein, wherein the instructions are further executable by the processor to at least one of: output an alert based on the one or more parameters satisfying one or more second criteria; and perform a registration process associated with the object and the robot, based on the one or more parameters satisfying the one or more second criteria. Any of the aspects herein, wherein the one or more parameters include at least one of movement information, positional information, and orientation information associated with the object. Any of the aspects herein, wherein: the one or more parameters include positional information associated with the object; and the one or more criteria include a displacement threshold with respect to reference positional information associated with the object. Any of the aspects herein, wherein the one or more measurement devices include a mechanical measurement device coupled to the robot and the object. Any of the aspects herein, wherein the mechanical measurement device maintains a non-rigid connection between the robot and the object. Any of the aspects herein, wherein: the mechanical measurement device includes one or more coupling elements configured to detach based on at least one of: a first force value measured at the object, a second force value measured at a portion of the mechanical measurement device, or both; and a displacement value of the object exceeding a threshold displacement value, wherein the displacement value is measured by the mechanical measurement device. Any of the aspects herein, wherein the one or more measurement devices include one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to the robot, the one or more robotic arms, or both. Any of the aspects herein, wherein the one or more measurement devices include at least one of: a first acoustic transducer coupled to the robot or the one or more robotic arms; and a second acoustic transducer coupled to the object. Any of the aspects herein, wherein the one or more measurement devices include a multi-sensor device coupled to the object. Any of the aspects herein, wherein the multi-sensor device is a monolithic integrated multi-sensor (MIMS) device including at least one of: a gyroscope; and an accelerometer. Any of the aspects herein, wherein the object includes an anatomical element. An apparatus including: a robot, the robot including one or more robotic arms; a movable base coupled to the robot; one or more measurement devices; a processor; and memory in electronic communication with the processor; and instructions stored in the memory, the instructions being executable by the processor to: monitor, by the one or more measurement devices, one or more parameters associated with an object; and adjust a pose of the robot based on the one or more parameters satisfying one or more criteria. Any of the aspects herein, wherein the one or more measurement devices include a mechanical measurement device coupled to the robot and the object. Any of the aspects herein, wherein the mechanical measurement device maintains a non-rigid connection between the robot and the object. Any of the aspects herein, wherein the mechanical measurement device includes one or more coupling elements configured to detach based on at least one of: a first force value measured at the object, a second force value measured at a portion of the mechanical measurement device, or both; and a displacement value of the object exceeding a threshold displacement value, wherein the displacement value is measured by the mechanical measurement device. Any of the aspects herein, wherein the one or more measurement devi