SURGICAL ROBOTIC AUTOMATION WITH TRACKING MARKERS
Devices, Systems, and Methods for instrument verification or checking the accuracy of the registration of the instrument for use with surgical robot systems. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and/or other objects to be tracked include active and/or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers. Instruments having relatively large tips may be used for verification of the instrument.
1 . A surgical robot system, comprising:
a camera;
a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm;
a test tool having a notch; and
an instrument under test having a groove,
wherein the camera is configured to track the robot, the test tool, and the instrument under test, and
wherein the groove of the instrument is configured to engage the notch of the test tool in order to check accuracy of tracking the instrument under test by the camera.
2 . The surgical robot of claim 1 , wherein the notch is disposed next to navigation markers of the test tool.
3 . The surgical robot of claim 1 , wherein the notch is configured to at least partially wrap around the groove.
4 . The surgical robot of claim 1 , wherein a thickness of the notch may match a bottom floor of the groove.
5 . The surgical robot of claim 1 , wherein the test tool further comprises a divot for receiving a tip of a second instrument under test to check accuracy of tracking the second instrument under test by the camera.
6 . The surgical robot of claim 1 , wherein the instrument under test is a rongeur.
7 . The surgical robot of claim 1 , wherein the instrument under test is a curette.
8 . The surgical robot of claim 1 , wherein the end-effector is configured to receive the instrument under test.
9 . The surgical robot of claim 1 , wherein the test tool comprises a divot for receiving a tip of a second instrument under test and the notch is disposed 90 degrees to a side of the divot.
10 . The surgical robot of claim 1 , wherein a vertex of the notch may match a center of the groove.
11 . A method of verifying accuracy of tracking an instrument under test by a surgical robot system, comprising:
engaging the instrument under test with a test tool; and
verifying that a location of the instrument under test is accurately recognized by the surgical robot system, the surgical robot system comprising:
a camera; and
a robot having a robot base and a robot arm coupled to the robot base;
wherein the camera is configured to track the robot, the test tool, and the instrument under test, and
wherein a groove of the instrument is configured to engage a notch of the test tool in order to check accuracy of tracking the instrument under test by the camera.
12 . The method of claim 11 , wherein the notch is disposed next to navigation markers of the test tool.
13 . The method of claim 11 , wherein the notch is configured to at least partially wrap around the groove.
14 . The method of claim 11 , wherein a thickness of the notch may match a bottom floor of the groove.
15 . The method of claim 11 , wherein the test tool further comprises a divot for receiving a tip of a second instrument under test to check accuracy of tracking the second instrument under test by the camera.
16 . The method of claim 11 , wherein the instrument under test is a rongeur.
17 . The method of claim 11 , wherein the instrument under test is a curette.
18 . The method of claim 11 , wherein the surgical robot system further comprises an end-effector configured to receive the instrument under test.
19 . The method of claim 11 , wherein the test tool comprises a divot for receiving a tip of a second instrument under test and the notch is disposed 90 degrees to a side of the divot.
20 . The method of claim 11 , wherein a vertex of the notch may match a center of the groove.