Surgical tool systems and method
Medical robot systems, surgical tool assemblies, devices, and methods regarding the same. The medical robot system may include a robot coupled to an end-effector having a guide tube. The robot may be configured for controlled movement and positioning of the end-effector. The system further includes a motor assembly coupled to the robot. The motor assembly may be configured to move the end-effector along one or more of an x-axis, a y-axis, and a z-axis. The surgical instrument is positionable and/or slidable within the guide tube. The surgical instrument includes at least one detectable feature, such as a reflective lens or stripe. A detection device is configured and arranged to detect the at least one detectable feature. The system enables a depth of the surgical instrument in the guide tube to be determined by the at least one detectable feature on the instrument.
1. A guided surgical tool assembly comprising:
an end-effector including a guide tube; and
a surgical instrument having a shaft and a handle, the surgical instrument moveable within the guide tube, the surgical instrument including at least one detectable feature affixed to the shaft or the handle,
wherein a depth of the surgical instrument in the guide tube is determined by the at least one detectable feature,
wherein the detectable feature comprises at least one reflective lens and the at least one reflective lens comprises three reflective lenses.
2. The guided surgical tool assembly of claim 1 , wherein the at least one reflective lens comprises three reflective lenses arranged around an outer perimeter of the shaft of the surgical instrument.
3. The guided surgical tool assembly of claim 1 , wherein the at least one reflective lens is embedded in the handle of the surgical tool.
4. The guided surgical tool assembly of claim 1 , wherein the at least one reflective lens includes at least two reflective lenses, and the at least two reflective lenses are attached to the shaft and connected to one another with a housing.
5. The guided surgical tool assembly of claim 1 , wherein the detectable feature comprises at least one reflective stripe.
6. The guided surgical tool assembly of claim 3 , wherein the at least one reflective stripe is arranged around an outer perimeter of the shaft of the surgical instrument.
7. The guided surgical tool assembly of claim 3 , wherein the at least one reflective stripe is positioned proximate to the handle of the surgical instrument.
8. The guided surgical tool assembly of claim 3 , wherein the at least one reflective stripe is formed of a paint containing reflective glass powder.
9. A guided surgical tool assembly comprising:
an end-effector including a guide tube; and
a surgical instrument having a shaft and a handle, the surgical instrument moveable within the guide tube, the surgical instrument including at least one detectable feature affixed to the shaft or the handle,
wherein a depth of the surgical instrument in the guide tube is determined by the at least one detectable feature
wherein the at least one detectable feature comprises a plurality of reflective lens, wherein the plurality of reflective lens from a semi-sphere, and have a radius of curvature terminating at a substantially flat collar or flange,
wherein the detectable feature comprises at least one reflective lens and the at least one reflective lens is embedded in the handle of the surgical tool.
10. The guided surgical tool assembly of claim 9 , wherein the at least one reflective lens comprises three reflective lenses.
11. The guided surgical tool assembly of claim 9 , wherein the at least one reflective lens comprises three reflective lenses arranged around an outer perimeter of the shaft of the surgical instrument.
12. The guided surgical tool assembly of claim 9 , wherein the at least one reflective lens includes at least two reflective lenses, and the at least two reflective lenses are attached to the shaft and connected to one another with a housing.
13. The guided surgical tool assembly of claim 9 , wherein the detectable feature comprises at least one reflective stripe.
14. The guided surgical tool assembly of claim 13 , wherein the at least one reflective stripe is arranged around an outer perimeter of the shaft of the surgical instrument.
15. The guided surgical tool assembly of claim 13 , wherein the at least one reflective stripe is positioned proximate to the handle of the surgical instrument.
16. A guided surgical tool assembly comprising:
an end-effector including a guide tube; and
a surgical instrument having a shaft and a handle, the surgical instrument moveable within the guide tube, the surgical instrument including at least one detectable feature affixed to the shaft or the handle,
wherein a depth of the surgical instrument in the guide tube is determined by the at least one detectable feature
wherein the at least one detectable feature is an optically graduated coating that includes a graduation in light reflectivity extending from a proximal end of the surgical instrument to a darker region adjacent the distal end of the surgical instrument.