Surgical robotic system
AssigneeMazor Robotics Ltd.
InventorsMoshe Shoham, Eliyahu Zehavi, Yossi Bar
Life of this patent
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Abstract
A robotic surgical system is provided. An illustrative robotic surgical system includes a base having a known position relative to an operating table; an end effector configured to hold and align a surgical tool for performing a procedure on a subject on said operating table; at least one robotic arm connecting said base with said end effector; and a target attached to the end effector, wherein an image of the target attached to the end effector is used to determine a pose of the end effector.
Claims19
A robotic surgical system, comprising:
- a base having a known position relative to an operating table;
- a robotic arm comprising:
- a first section;
- a second section distal to the first section;
- and
- a connection element that couples the first section to the second section and that enables connection to a part of a subject's anatomy;
- an end effector attached to the second section and configured to hold and align a surgical tool for performing a procedure on the subject on said operating table;
- a processor;
- and
- a memory comprising instructions, that when executed by the processor, cause the processor to:
- obtain an image of a target attached to the end effector, the target comprising a plurality of markers arranged in a known three-dimensional pattern;
- register the end effector to the subject based on the image of the target and one or more preoperative images of the subject;
- and
- determine a pose of the end effector based on the registration.
A robotic surgical system, comprising:
- a base having a known position relative to an operating table;
- an end effector configured to hold and align a surgical tool for performing a procedure on a subject on said operating table;
- at least one robotic arm connecting said base with said end effector;
- a target attached to the end effector, wherein an image of the target attached to the end effector is used to determine a pose of the end effector;
- a processor;
- and
- a memory comprising instructions, that when executed by the processor, cause the processor to:
- receive information regarding preoperative characteristics of the subject;
- determine expected subject motion based on the information;
- and
- adjust a stiffness of the base according to the expected subject motion.
A method of performing a surgical procedure on a subject, the method comprising:
- fixing a base of a robotic surgical system into a known position relative to an operating table;
- connecting an end effector to the base via a robotic arm, the robotic arm comprising a first section, a second section distal to the first section, and a connection element that couples the first section to the second section and that connects to a part of a subject's anatomy, wherein the end effector is configured to hold and align a surgical tool for performing a surgical procedure on the subject;
- connecting the connection element to the part of the subject's anatomy;
- attaching a target to the end effector, wherein the target comprises a plurality of markers arranged in a known three-dimensional pattern;
- obtaining an image of the target when the target is attached to the end effector;
- registering the end effector to the subject based on the image of the target and one or more preoperative images of the subject;
- and
- determining a pose of the end effector based on the registration.
Dependencies are inferred from the claim text.