Surgical robotic systems with target trajectory deviation monitoring and related methods
Inventors
Forsyth, Jeffrey • Crawford, Neil • Ocasio, Jovany • Robinson, Michael
Assignees
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Publication Number
US-12458453-B2
Publication Date
2025-11-04
Expiration Date
Abstract
A method may be provided to operate a surgical robotic system including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient. Position information may be received where the position information is generated using a sensor system remote from the robotic arm and remote from the patient. The position information may include position information relating to a tracking device affixed to the patient and position information relating to the surgical end-effector. The robotic arm may be controlled to move the surgical end-effector to a target trajectory relative to the anatomical location of the patient based on the position information generated using the sensor system.
Core Innovation
The invention operates a surgical robotic system in which a robotic arm positions a surgical end-effector with respect to an anatomical location of a patient. A model of movement of the anatomical location relative to a tracking device affixed to the patient is accessed for a plurality of phases of a breathing cycle, and the model provides a plurality of offsets associated with respective phases.
A sensor system remote from the robotic arm and remote from the patient generates position information that includes positions of the tracking device affixed to the patient and positions of the surgical end-effector. The plurality of phases of the breathing cycle are detected as the tracking device moves due to patient breathing, and the anatomical location relative to the robotic arm is determined using the accessed movement model and the received position information.
Based on the determined locations of the anatomical location, the robotic arm maintains the surgical end-effector at a target trajectory relative to the anatomical location as the tracking device moves due to patient breathing. The controlling is tied to breathing-phase detection and phase-associated offsets from the movement model to maintain the end-effector along the target trajectory during respiratory motion.
Claims Coverage
The consolidated coverage includes two independent method claims. The inventive features center on remote sensor-generated position information, breathing-cycle phase detection, and phase-associated offsets from a movement model used to determine the anatomical location and maintain the end-effector on a target trajectory.
Phase-associated movement model offsets for anatomical location tracking
Accessing a model of movement of the anatomical location relative to a tracking device affixed to a patient for a plurality of phases of a breathing cycle, wherein the model provides a plurality of offsets of the anatomical location relative to the tracking device so that a respective one of the plurality of offsets is associated with a respective one of the plurality of phases.
Remote sensor system position information for tracking device and end-effector
Receiving position information generated using a sensor system remote from the robotic arm and remote from the patient, wherein the position information includes information relating to positions of the tracking device affixed to the patient and positions of the surgical end-effector as the tracking device moves due to the patient breathing.
Breathing-phase detection from tracking device motion
Detecting the plurality of phases of the breathing cycle as the tracking device moves due to the patient breathing.
Maintaining end-effector target trajectory using phase-determined anatomical locations
Controlling the robotic arm to maintain the surgical end-effector at a target trajectory relative to the anatomical location of the patient as the tracking device moves due to the patient breathing, based on receiving the position information, detecting the plurality of phases, and using the plurality of offsets to determine locations, relative to the robotic arm, of the anatomical location.
Stored offsets movement model per breathing phase to determine anatomical location
Accessing a movement model of the anatomical location relative to a tracking device affixed to a patient, the movement model storing a plurality of offsets of the anatomical location for each of a plurality of phases of a breathing cycle.
Breathing-phase detection, anatomical location determination, and trajectory maintenance
Determining the locations, relative to the robotic arm, of the anatomical location based on the detected phases and the accessed movement model; and maintaining the end effector at a target trajectory relative to the anatomical location of the patient as the tracking device moves due to the patient breathing based on the determined locations of the anatomical location.
The inventive coverage centers on accessing a movement model with breathing-phase-specific offsets, receiving remote sensor position information for the tracking device and the surgical end-effector, detecting breathing phases, determining the anatomical location relative to the robotic arm, and controlling the robotic arm to maintain the end-effector at a target trajectory relative to the anatomical location.
Stated Advantages
Maintains the surgical end-effector at a target trajectory relative to the anatomical location as the tracking device moves due to patient breathing.
Documented Applications
Operating a surgical robotic system to position a surgical end-effector relative to an anatomical location while compensating for patient breathing by maintaining a target trajectory.
Automatically inserting a medical instrument while the robotic arm holds the surgical end-effector on the target trajectory.
Automatically inserting a biopsy needle while the robotic arm holds the surgical end-effector along a target trajectory.
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