# US 2017/0281145 A1 · Surgical robot platform

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- Number: US 2017/0281145 A1
- Document ID: US20170281145A1
- Status: Published application
- Kind: A1
- Application number: 15/609,305
- Filed: 2017-05-31
- Published: 2017-10-05
- Earliest claimed: 2012-06-21
- Assignees: Globus Medical, Inc.
- Applicants: Globus Medical, Inc.
- Inventors: Neil R. Crawford; Nicholas Theodore; Mitchell A. Foster
- Web page: https://patentgrep.com/patent/US20170281145A1

## CPC

- A61B 34/30: Surgical robots
- 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)}
- A61B 5/062: {using magnetic field}
- A61B 5/066: {Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging}
- A61B 6/12: Arrangements for detecting or locating foreign bodies
- 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)}
- A61B 10/0233: {Pointed or sharp biopsy instruments}
- A61B 10/0275: {with sample notch, e.g. on the side of inner stylet}
- A61B 17/025: {Joint distractors}
- A61B 17/1615: {Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material}
- A61B 17/1671: {for the spine}
- A61B 17/1703: {using imaging means, e.g. by X-rays}
- A61B 17/1757: {for the spine}
- 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}
- A61B 17/8866: {for gripping or pushing bones, e.g. approximators (joint distractors A61B17/025)}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/25: {User interfaces for surgical systems}
- A61B 34/32: operating autonomously
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 34/74: {Manipulators with manual electric input means}
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 46/20: specially adapted for patients
- A61B 50/13: Trolleys{, e.g. carts}
- A61B 90/14: Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers}
- A61B 90/96: using barcodes
- A61B 90/98: using electromagnetic means, e.g. transponders
- A61F 2/46: Special tools for implanting artificial joints
- A61M 5/172: electrical or electronic
- A61N 1/0529: {Electrodes for brain stimulation}
- B25J 9/1065: {with parallelograms}
- A61B 5/064: {using markers (A61B5/062 takes precedence)}
- A61B 6/4435: {the source unit and the detector unit being coupled by a rigid structure}
- A61B 6/547: {involving tracking of position of the device or parts of the device}
- A61B 17/17: Guides {or aligning means} for drills {, mills, pins or wires}
- A61B 90/11: with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for}
- A61B 2010/0208: {Biopsy devices with actuators, e.g. with triggered spring mechanisms}
- A61B 2017/00119: {alarm; indicating an abnormal situation}
- A61B 2017/00203: {with speech control or speech recognition}
- A61B 2017/00207: {with hand gesture control or hand gesture recognition}
- A61B 2017/00876: {magnetic}
- A61B 2017/0256: {for the spine}
- A61B 2034/102: {Modelling of surgical devices, implants or prosthesis}
- A61B 2034/104: {Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2059: {Mechanical position encoders}
- A61B 2034/2068: {using pointers, e.g. pointers having reference marks for determining coordinates of body points}
- A61B 2034/2072: {Reference field transducer attached to an instrument or patient}
- A61B 2034/2074: {Interface software}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/741: {Glove like input devices, e.g. "data gloves"}
- A61B 2034/742: {Joysticks}
- A61B 2034/743: {Keyboards}
- A61B 2034/744: {Mouse}
- A61B 2090/034: {abutting on parts of the device itself}
- A61B 2090/064: {for measuring force, pressure or mechanical tension}
- 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}
- A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image}
- A61B 2090/374: {NMR or MRI}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3762: {using computed tomography systems [CT]}
- A61B 2090/3764: {with a rotating C-arm having a cone beam emitting source}
- A61B 2090/378: {using ultrasound}
- A61B 2090/3937: {Visible markers}
- A61B 2090/3941: {Photoluminescent markers}
- A61B 2090/3945: {Active visible markers, e.g. light emitting diodes}
- A61B 2090/395: {with marking agent for marking skin or other tissue}
- A61B 2090/3966: {Radiopaque markers visible in an X-ray image}
- A61B 2090/3975: {active}
- A61B 2090/3979: {infrared}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61F 2002/4632: {using computer-controlled surgery, e.g. robotic surgery}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)}
- A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## 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.

## Claims

### Claim 1

A surgical robot system comprising:
a surgical robot having a controllable robot arm, the robot arm having an end-effector comprising a guide tube;
a surgical instrument configured to be positioned through the guide tube and configured to be advanced into tissue of a patient; and
a stop mechanism configured to prevent the surgical instrument from advancing through the guide tube when the surgical instrument reaches a predetermined amount of protrusion.

### Claim 2 (depends on 1)

The surgical robot system of claim 1, wherein the surgical robot is able to determine a maximum protrusion distance past an end of the guide tube that the surgical instrument is able to protrude.

### Claim 3 (depends on 2)

The surgical robot system of claim 2, wherein the maximum protrusion distance is determined from known lengths of the guide tube and the surgical instrument, a known distance between respective ends of the surgical instrument, and a known location where the stop mechanism is attached.

### Claim 4 (depends on 2)

The surgical robot system of claim 2, wherein the maximum protrusion distance of the surgical instrument is monitored.

### Claim 5 (depends on 1)

The surgical robot system of claim 1, wherein an actual protrusion distance of the surgical instrument is monitored during insertion.

### Claim 6 (depends on 5)

The surgical robot system of claim 5, wherein the actual protrusion distance of the surgical instrument is substantially continuously monitored and is displayed on a display.

### Claim 7 (depends on 5)

The surgical robot system of claim 5, wherein the actual protrusion distance is monitored with a spring-loaded plunger including a spring-loaded mechanism and sensor pad having a coupled wiper.

### Claim 8 (depends on 7)

The surgical robot system of claim 7, wherein the stop mechanism is configured to contact the spring-loaded mechanism before it encounters the end of the guide tube.

### Claim 9 (depends on 7)

The surgical robot system of claim 7, wherein, when the wiper moves across the sensor pad, a linear position of the wiper is sampled, thereby permitting calculation of the actual protrusion distance.

### Claim 10 (depends on 1)

The surgical robot system of claim 1, wherein the surgical instrument is a drill bit and the drill bit includes the stop mechanism.

### Claim 11 (depends on 10)

The surgical robot system of claim 10, wherein the stop mechanism on the drill bit is manually adjustable with reference to markings on the drill bit.

### Claim 12 (depends on 10)

The surgical robot system of claim 10, wherein the drill bit includes release mechanisms on each end of the stop mechanism.

### Claim 13 (depends on 10)

The surgical robot system of claim 10, wherein the drill bit includes a locking mechanism configured to lock and hold the drill bit in a set position relative to the guide tube.

### Claim 14 (depends on 13)

The surgical robot system of claim 13, wherein the locking mechanism includes two clam shells, and the drill bit is locked into position by closing the clam shells around the stop mechanism.

### Claim 15

A surgical robot system comprising:
a surgical robot having a controllable robot arm, the robot arm having an end-effector comprising a guide tube; and
a surgical instrument configured to slide through the guide tube, wherein the surgical instrument or the guide tube includes a stop mechanism to prevent the surgical instrument from advancing through the guide tube at a predetermined location.

### Claim 16 (depends on 15)

The surgical robot system of claim 15, wherein the surgical robot is able to determine a maximum protrusion distance past an end of the guide tube that the surgical instrument is able to protrude.

### Claim 17 (depends on 16)

The surgical robot system of claim 16, wherein the maximum protrusion distance is determined from known lengths of the guide tube and the surgical instrument, a known distance between respective ends of the surgical instrument, and a known location where the stop mechanism is attached.

### Claim 18 (depends on 16)

The surgical robot system of claim 16, wherein the maximum protrusion distance of the surgical instrument is monitored.

### Claim 19 (depends on 15)

The surgical robot system of claim 15, wherein an actual protrusion distance of the surgical instrument is monitored during insertion.

### Claim 20 (depends on 19)

The surgical robot system of claim 19, wherein the actual protrusion distance of the surgical instrument is substantially continuously monitored and is displayed on a display.