Robotic surgical system
The present invention provides an apparatus, system and method for providing robotically assisted surgery that involves the removal of bone or non-fibrous type tissues during a surgical procedure. The system utilizes a multi-axis robot having a reciprocating tool that is constructed and arranged to remove hard or non-fibrous tissues while leaving soft tissues unharmed. The multi-axis robot may be controlled via computer or telemanipulator, which allows the surgeon to complete a surgery from an area adjacent to the patient to thousands of miles away.
1. A robotic surgical system, the system comprising:
a first multi-axis robot having a plurality of interconnected arms, a first arm having a first end being mounted to a base for rotation about a first axis, a second end of said first arm rotationally connected to a first end of a second arm, said second arm being rotationally movable about a second axis relative to said first arm, said rotational movements completed in response to electrical signals received from a computer, a second end of said second arm having a tool holder positioned at a distal end thereof for retaining a surgical tool, said tool holder configured to retain or release said surgical tool in response to electrical signals sent from said computer, said computer electrically coupled to said first multi-axis robot and operable to control movement of said first arm, said second arm and said tool holder in response to commands sent as electrical signals from said computer, said computer storing a length and diameter of each surgical tool, so that positioning of the robot arms is altered to correspond to each surgical tool,
a monitor coupled to said computer and operable to configure said computer to display a path of movement of said surgical tool by providing electrical signals to said first multi-axis robot and receiving positional feedback of said first and said second arms, said monitor also operable to configure said computer to provide electrical signals to cause said multi-axis robot to move to a tool change position and display said tool change position for grasping and retaining said surgical tool in said tool holder.
2. The surgical system as set forth in claim 1 , including a tool change rack positioned within the combined effective reach of said first arm and said second arm, said tool change rack being constructed and arranged to support a plurality of surgical tools in a predetermined arrangement, a positional location of each said surgical tool contained within said computer, whereby a said distal end of said interconnected first and second arms of said multi-axis robot can be maneuvered on command from said computer to a position above one of said plurality of surgical tools to be grasped by said tool changer holder secured to said distal end of said second arm.
3. The surgical system as set forth in claim 2 , wherein said distal end of said interconnected arms of said multi-axis robot can be maneuvered on command from said computer to a position above a portion of said tool change rack, said computer sending a signal to said tool holder changer to drop said surgical tool out of said tool holder and into said tool change rack holder.
4. The surgical system as set forth in claim 1 , wherein said computer is constructed and arranged to display a first image representing a portion of a patient, said computer also configured to receive and display a motion path of said distal end of said second arm of said multi-axis robot including said surgical tool with respect to said first image.
5. The surgical system as set forth in claim 4 , wherein said surgical tool is an ultrasound probe, said robot receiving electrical signals from said computer to cause said distal end of said interconnected arms to move to a predetermined position, whereby said ultrasound probe sends a second image to said computer, said second image aligned and displayed over said first image.
6. The surgical system as set forth in claim 5 , including a second multi-axis robot having a plurality of interconnected arms, a third arm having a first end being mounted to a base for rotation about a third axis, a second end of said third arm rotationally connected to a first end of a fourth arm, said fourth arm being rotationally movable about a second axis relative to said third arm, said rotational movements completed in response to electrical signals received from said computer, a second end of said fourth arm having a second tool holder positioned at a distal end thereof for retaining a surgical tool, said second tool holder configured to retain or release said surgical tool in response to electrical signals sent from said computer, said computer electrically coupled to said first multi-axis robot and said second multi-axis robot and operable to control movement of said first arm, said second arm, said third arm, said fourth arm, said tool holder and said second tool holder in response to commands sent as electrical signals from said computer.
7. The surgical system as set forth in claim 5 , wherein said second image is displayed in real time.
8. The surgical system as set forth in claim 5 , including at least one fiducial marker adapted to be secured to a portion of a patient anatomy, said fiducial marker constructed of a material that is visible in said first image and said second image, said fiducial marker utilized by said computer to align said first image and said second image for viewing.
9. The surgical system as set forth in claim 8 , including a plurality of said fiducial markers.
10. The surgical system as set forth in claim 4 , wherein said first image is a three dimensional image.