SURGICAL ROBOT PLATFORM
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 and is further configured to (i) calculate a position of the at least one transmitter by analysis of the signals received by the plurality of receivers; (ii) display the position of the at least one transmitter with respect to the body of the patient; and (iii) selectively control actuation of the motor assembly in response to the signals received by the plurality of receivers.
1 . A surgical robot system comprising:
a targeting fixture including at least one radio-opaque marker and at least one target active marker, wherein the targeting fixture is configured to be secured to a patient proximate to a target anatomy, and wherein the at least one active marker is configured to be tracked by a camera system in a navigation space and the at least one radio-opaque marker is configured to indicate a location in the image space;
at least one robot active marker configured to be tracked by the camera system in the navigation space; and
a surgical instrument having at least one instrument active marker configured to be tracked by the camera system in the navigation space;
wherein the surgical robot system is configured to establish a relationship between the surgical robot system and the target anatomy in the image space and display a location of the surgical instrument relative to the target anatomy in the image space.
2 . The surgical robot system of claim 1 , wherein the targeting fixture is removably attached to the patient in proximity to the target anatomy.
3 . The surgical robot system of claim 2 , wherein the targeting fixture is removably attached to the patient by adhering the targeting fixture device to the skin of the patient.
4 . The surgical robot system of claim 2 , wherein the targeting fixture is flexible.
5 . The surgical robot system of claim 1 , wherein the at least one target active marker, the at least one robot active marker, and the at least one instrument active marker are reflective.
6 . The surgical robot system of claim 5 , wherein the camera system is one or more infrared cameras configured to track the at least one target active marker, the at least one robot active marker, and the at least one instrument active marker.
7 . The surgical robot system of claim 1 , wherein the targeting fixture device defines a working space perimeter and contains a plurality of radio-opaque markers and a plurality of target active markers positioned around the working space perimeter.
8 . The surgical robot system of claim 1 , wherein the targeting fixture is configured to be rolled onto the patient.
9 . The surgical robot system of claim 1 , wherein the at least one target active marker comprises a triad of target active markers.
10 . The surgical robot system of claim 1 , further comprising a drape incorporated into the targeting fixture.
11 . A computer-implemented method of tracking a location of a target anatomical structure of a patient and at least one surgical instrument by a surgical robot system, said method comprising:
storing an image representing the target anatomical structure in an image space;
detecting an imaging pattern of radio-opaque markers in the image space, the radio-opaque markers being disposed on a targeting fixture that is secured to the patient;
detecting a navigation pattern of active target markers in a navigation space, the active markers being disposed on the targeting fixture;
detecting a navigation pattern of active robot markers in the navigation space, the active robot markers being disposed on the surgical robot system;
detecting a navigation pattern of active instrument marker in the navigation space, the active instrument markers being disposed on a surgical instrument;
establishing a relationship between the surgical robot system and the target anatomical structure in the image space based on the relative location of the surgical robot system and the target anatomical structure in the navigation space;
tracking a position of the surgical instrument relative to the target anatomical structure in the navigation space; and
displaying the position of the surgical instrument relative to the target anatomical structure in the image space.
12 . The method of claim 11 , wherein the targeting fixture device is removably attached to the patient in proximity to the target anatomical structure.
13 . The method of claim 12 , wherein the targeting fixture device is removably attached to the patient by adhering the targeting device to the skin of the patient.
14 . The method of claim 12 , wherein the targeting fixture is flexible.
15 . The method of claim 12 , wherein the target active markers, the robot active markers, and the instrument active markers are reflective.
16 . The method of claim 11 , wherein the camera system is one or more infrared cameras configured to track the target active markers, the robot active markers, and the instrument active markers.
17 . The method of claim 11 , wherein the targeting fixture device defines a working space perimeter and the radio-opaque markers and the target active markers are positioned around the working space perimeter.
18 . The method of claim 11 , wherein the targeting fixture is configured to be rolled onto the patient.
19 . The method of claim 11 , wherein the active markers comprise a triad of target active markers.
20 . The method of claim 1 , further comprising a drape incorporated into the targeting fixture.