System and method for interaction and definition of tool pathways for a robotic cutting tool
Inventors
SEXSON, Benjamin • UNIS, DOUGLAS B. • DiCicco, Matthew • JIN, Brian
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Assignees
Member
Icahn School of Medicine at Mount SinaiThe Icahn School of Medicine at Mount Sinai, located in New York City, is an international leader in biomedical education, research, and patient care. As the academic partner of the Mount Sinai Health System, the school is renowned for its innovative education, groundbreaking research, and commitment to health equity. With over 7,000 faculty, 1,200 students, and 2,500 residents and fellows, the institution fosters a culture of bold thinking, multidisciplinary teamwork, and a willingness to challenge conventional wisdom. Its mission is to radically advance the art and science of medical care through collaborative learning, scholarly inquiry, and a deep respect for diversity, preparing the next generation of healthcare leaders to revolutionize medicine and biomedical science.
The Icahn School of Medicine at Mount Sinai, located in New York City, is an international leader in biomedical education, research, and patient care. As the academic partner of the Mount Sinai Health System, the school is renowned for its innovative education, groundbreaking research, and commitment to health equity. With over 7,000 faculty, 1,200 students, and 2,500 residents and fellows, the institution fosters a culture of bold thinking, multidisciplinary teamwork, and a willingness to challenge conventional wisdom. Its mission is to radically advance the art and science of medical care through collaborative learning, scholarly inquiry, and a deep respect for diversity, preparing the next generation of healthcare leaders to revolutionize medicine and biomedical science.
Publication Number
US-12097003-B2
Publication Date
2024-09-24
Expiration Date
2040-05-20
Abstract
A surgical method includes, for example, positioning a patient relative to a robot, moving an end effector of the robot relative to a surgical site of a patient, defining a go-zone and a no-go-zone associated with the surgical site based on the moving the end effector of the robot relative to the patient, and effecting a surgical procedure at the surgical site of the patient with a tool attached to the end effector of the robot based on the defined go-zone and the defined no-go-zone, and wherein the effecting the surgical procedure maintains the tool in the defined go-zone and avoids contact with the defined no-go-zone.
Core Innovation
The invention is a system and method for defining and modifying safe zones (go-zones) and unsafe zones (no-go-zones) for a robotic cutting tool used in surgery, particularly for orthopedic and neurological procedures. It involves positioning a patient relative to a robotic surgical device, moving the robot's end effector to define these zones dynamically during surgery, and performing surgical cuts while maintaining the tool within the defined safe zones and avoiding no-go zones. This dynamic definition and modification of boundary zones overcomes limitations of preprogrammed robots that lack real-time adaptability during surgical procedures.
The problem solved by this invention is the inflexibility and limitations of existing robotic surgical systems, such as the MAKO and TSolution One robots, where surgical boundaries are preprogrammed and cannot be effectively adjusted in real-time. These systems either restrict robot movement when approaching boundaries, hindering optimal cutting orientations, or allow cutting regardless of obstacles or boundary correctness. Jogging and collaborative teaching in industrial robots are either too slow or cumbersome for timely surgical use. The invention aims to provide interactive, adaptable control of robotic cutting tools to improve surgical accuracy and safety.
The method incorporates use of a user interface including a control handle, cameras, and a visual display that enables a surgeon to interactively define and modify go-zones and no-go-zones during surgery. The system tracks positions of surgical site features, bones, and obstacles such as retractors, registering them relative to the robot and adjusting the surgical cutting path accordingly. Boundaries can be defined by moving the end effector or through a visual display interface, including operations like carving out safe zones from no-go areas. This interactive, inter-operative approach allows for dynamic updates to surgical protocols based on real-time surgical environment changes.
Claims Coverage
The patent includes multiple independent claims that cover inventive features related to robotic surgical methods and systems involving dynamic definition of go-zones and no-go-zones through movement of the robot's end effector and interaction with visual interfaces and sensors.
Dynamic definition of go-zone and no-go-zone by moving end effector
The invention defines go-zones and no-go-zones associated with a patient’s surgical site by moving the robot's end effector relative to the patient, including carving out portions of no-go-zones to create go-zones that constrain surgical tool movement to safe areas.
Use of movement paths and shapes for zone definition
Go-zone definition is based on moving the end effector along arcs or paths that define portions of cylinders, cones, or unions of multiple paths to create combined go-zones around the surgical site.
User input control for zone definition
User-controlled movement of the end effector involves initiating and ending inputs via buttons or grasping to define zones, allowing direct surgeon interaction to create or modify zones.
Integration of objects and obstacles in surgical procedure
The method includes defining objects such as retractors or bones at the surgical site and effecting the surgical procedure to maintain the tool in go-zone, avoid no-go-zones, and avoid contact with defined objects, with continuous updating based on camera data.
Using visual display to define zones and surgical interaction
A visual display showing representations of the surgical site, end effector, go-zone, and no-go-zone allows defining zones by moving representations on the display, carving out portions of no-go-zones to create go-zones interactively.
A robotic surgical system with processing to control safe cut zones based on end effector movement
The system includes a robot, controller, cameras, control handle, and processing to receive end effector movement data, define go-zones and no-go-zones accordingly, and control surgical tool movement to remain within these zones.
Use of a secondary camera for object tracking and surgical avoidance
A secondary camera distinct from the robot's camera tracks objects such as retractors at the surgical site, enabling the robotic system to update cut plans and avoid contact with these tracked objects during surgery.
Overall, the claims cover a comprehensive system and method for interactively defining, modifying, and utilizing safe and unsafe zones in robotic surgery, leveraging user inputs, real-time imaging, and dynamic surgical environment tracking to control robotic tool movement and improve surgical safety and precision.
Stated Advantages
Provides an interactive and dynamic method to define and modify safe and unsafe zones during surgery, overcoming inflexible preprogrammed robotic systems.
Improves surgical accuracy and safety by maintaining surgical tools within defined go-zones and avoiding no-go-zones and obstacles.
Enables real-time updates to surgical plans and boundaries to accommodate changes in the surgical environment, such as moving soft tissue or repositioned retractors.
Facilitates direct surgeon interaction with the robot through intuitive control handles and visual displays for efficient surgical workflow.
Allows continuous tracking of objects adjacent to the surgical site with a secondary camera to prevent unintended contact.
Documented Applications
Orthopedic surgery, including procedures involving the femur, pelvis, shoulder, spine, elbow, and knee.
Neurological surgery involving precise cutting and excavation of bones.
Surgical procedures requiring real-time adaptation of robot cutting paths due to changing surgical conditions.
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