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.
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; and
a surgical instrument configured to be positioned through the guide tube and configured to be advanced into tissue of a patient,
wherein the surgical instrument is curved for a nonlinear trajectory to a target.
2 . The surgical robot system of claim 1 , wherein the guide tube is curved.
3 . The surgical robot system of claim 2 , wherein the surgical instrument is straight before being positioned through the curved guide tube which subsequently imparts some curvature to the surgical instrument.
4 . The surgical robot system of claim 3 , wherein the surgical instrument is compliant wire capable of forming to the curvature of the guide tube.
5 . The surgical robot system of claim 1 , wherein the surgical instrument is a non-compliant wire capable of substantially retaining its shape after entering and exiting the guide tube.
6 . The surgical robot system of claim 1 , wherein the guide tube is straight.
7 . The surgical robot system of claim 1 , wherein the surgical instrument is a curved needle.
8 . The surgical robot system of claim 7 , wherein the curved needle includes a rigid, straight outer guide tube and an inner needle able to take on a curved shape.
9 . The surgical robot system of claim 1 , wherein the surgical instrument is comprised of a shape memory alloy.
10 . The surgical robot system of claim 9 , wherein the shape memory alloy is nitinol.
11 . The surgical robot system of claim 1 , wherein the surgical robot is configured to accurately guide the surgical instrument based on the orientation of the guide tube and predetermined planning to predict how the surgical instrument travels along the nonlinear trajectory.
12 . 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 guide tube is curved to provide a nonlinear trajectory to a target.
13 . The surgical robot system of claim 12 , wherein the surgical instrument is curved.
14 . The surgical robot system of claim 12 , wherein the surgical instrument is straight before being positioned through the curved guide tube which imparts at least some curvature to the surgical instrument.
15 . The surgical robot system of claim 14 , wherein the surgical instrument is compliant wire capable of forming to the curvature of the guide tube.
16 . The surgical robot system of claim 12 , wherein the surgical instrument is a non-compliant wire capable of substantially retaining its shape after entering and exiting the guide tube.
17 . The surgical robot system of claim 12 , wherein the surgical instrument is a curved needle.
18 . The surgical robot system of claim 17 , wherein the curved needle includes a rigid, straight outer guide tube and an inner needle able to take on a curved shape.
19 . The surgical robot system of claim 12 , wherein the surgical instrument is comprised of a shape memory alloy.
20 . The surgical robot system of claim 19 , wherein the shape memory alloy is nitinol.