Surgical tool systems and methods
Embodiments of the present disclosure provide a surgical robot system may include an end-effector element configured for controlled movement and positioning and tracking of surgical instruments and objects relative to an image of a patient's anatomical structure. In some embodiments the end-effector may be tracked by surgical robot system and displayed to a user. In some embodiments the end-effector element may be configured to restrict the movement of an instrument assembly in a guide tube. In some embodiments, the end-effector may contain structures to allow for magnetic coupling to a robot arm and/or wireless powering of the end-effector element. In some embodiments, tracking of a target anatomical structure and objects, both in a navigation space and an image space, may be provided by a dynamic reference base located at a position away from the target anatomical structure.
1. A surgical robot system comprising:
a robot base having a display;
a robot arm coupled to the robot base, wherein movement of the robot arm is electronically controlled by the robot base; and
an end-effector, coupled to the robot arm, containing one or more end-effector tracking markers;
wherein the robot base is in electronic communication with the robot arm and the end effector,
wherein the one or more end-effector tracking markers are configured to be detected by a camera system and the display is configured to indicate a location of the end-effector in relation to at least one of the robot base and the robot arm,
wherein the robot arm is configured to selectively move the end-effector along the x, y, and z axes and configured for selective rotation about one of the x, y, and z axes,
wherein the robot arm does not provide six degrees of freedom,
wherein the robot arm is configured to position the end-effector in location to optimize the placement of pedicle screws.
2. The surgical robot system of claim 1 , wherein the markers are positioned around the surface of end-effector.
3. The surgical robot system of claim 1 , wherein the distribution of the markers enables the end-effector to be monitored when the end-effector is rotated by 135 degrees about a z-axis.
4. A surgical robot system comprising:
a robot base having a display;
a robot arm coupled to the robot base, wherein movement of the robot arm is electronically controlled by the robot base; and
an end-effector, coupled to the robot arm, containing one or more end-effector tracking markers;
wherein the robot base is in electronic communication with the robot arm and the end effector,
wherein the one or more end-effector tracking markers are configured to be detected by a camera system and the display is configured to indicate a location of the end-effector in relation to at least one of the robot base and the robot arm,
wherein the robot arm is configured to selectively move the end-effector along the x, y, and z axes, wherein the robot arm does not provide six degrees of freedom,
wherein the robot arm is configured to position the end-effector in location to optimize the placement of pedicle screws.