System and method for surgical tool insertion using multiaxis force and moment feedback
AssigneeGlobus Medical, Inc.
InventorsNeil Crawford, Norbert Johnson
Life of this patent
Estimating the term…
Abstract
Devices, systems, and methods for detecting unexpected movement of a surgical instrument during a robot-assisted surgical procedure are provided. The surgical robot system may be configured to measure forces and torques experienced by the surgical instrument during the surgical procedure and determine if the forces and torques are within an acceptable range. The robot system is further configured to notify the user of the presence of the unexpected movement.
Claims20
A method for detecting expected movement of a surgical instrument of a surgical robot system, said method comprising:
- applying an insertion force to a surgical instrument to drive the instrument into a bone of a patient;
- monitoring one or more forces associated with the insertion force, wherein the monitored forces are measured by at least one strain gauge;
- comparing the monitored forces to a predetermined range or threshold expected for the surgical procedure;
- providing a notification, via the robot system, upon detecting that the monitored forces fall outside of the predetermined range or threshold;
- monitoring a bone movement of the patient caused by a lateral force of the surgical instrument through a dynamic reference array attached to the patient;
- and
- automatically adjusting a guide tube of the robot system to offset the bone movement based on the monitoring of the bone movement.
A surgical robot system for detecting the expected movement of a surgical instrument associated with the robot system, said robot system comprising:
- a robot base;
- a robot arm connected to and in electronic communication with the robot base;
- an end-effector connected to the robot arm and in electronic communication with the robot based, wherein the end-effector comprises a guide tube, and
- wherein at least one strain gauge is positioned on a surgical instrument coupled to the end-effector, each strain gauge is configured to measure forces associated with the insertion force of the surgical instrument disposed in the guide tube, and
- wherein the robot base is configured to receive the measured forces and indicate when the measured forces are outside of an expected range for the measured forces;
- wherein the robot base is configured to monitor a bone movement of the patient caused by a lateral force of the surgical instrument through a dynamic reference array attached to the patient;
- and
- wherein the robot base is configured to automatically adjust the guide tube of the robot system to offset the bone movement based on the monitoring of the bone movement.
A surgical robot system for detecting the expected movement of a surgical instrument associated with the robot system, said robot system comprising:
- a robot base;
- a robot arm connected to and in electronic communication with the robot base;
- an end-effector connected to the robot arm and in electronic communication with the robot base, wherein the end-effector comprises a guide tube and is configured to receive a surgical instrument, and
- wherein at least one strain gauge is positioned on the surgical instrument coupled to the end-effector, each strain gauge is configured to measure forces associated with the insertion force of a surgical instrument disposed in the guide tube, and
- wherein each strain gauge is configure to measure skiving forces applied to the surgical instrument;
- wherein the robot base is configured to monitor a bone movement of the patient caused by a lateral force of the surgical instrument through a dynamic reference array attached to the patient;
- and
- wherein the robot base is configured to automatically adjust the guide tube of the robot system to offset the bone movement based on the monitoring of the bone movement.
Dependencies are inferred from the claim text.