SURGICAL ROBOTIC AUTOMATION WITH TRACKING MARKERS
Devices, Systems, and Methods for detecting a 3-dimensional position of an object, and surgical automation involving the same. 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, and the robot determines a 3-dimensional position of the object from the tracking markers.
1 . A surgical robot system comprising:
a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm;
a power drill mounting assembly removably couplable to the end-effector, the power drill mounting assembly comprising:
a passage;
tracking markers in communication with a display, the tracking markers coupled to the passage; and
a sleeve removably coupled to the passage; and
a power drill positionable within the power drill mounting assembly;
wherein the robot is configured to control the end-effector to perform a surgical procedure.
2 . The surgical robot system of claim 1 , wherein the sleeve is coaxially aligned with the passage.
3 . The surgical robot system of claim 1 , wherein the sleeve extends from the passage.
4 . The surgical robot system of claim 1 , wherein the sleeve has an inner diameter ranging from 10 millimeters (mm) to 20 mm.
5 . The surgical robot system of claim 1 , wherein an outer surface of a distal end of the sleeve is threaded.
6 . The surgical robot system of claim 1 , wherein an inner surface of the passage is threaded.
7 . The surgical robot system of claim 1 , wherein at least a portion of the sleeve has an outer diameter that is less than an inner diameter of the passage.
8 . The surgical robot system of claim 1 , further comprising a verification passage.
9 . The surgical robot system of claim 8 , wherein the verification passage is positioned within the end-effector.
10 . The surgical robot system of claim 12 , wherein the power drill comprises a battery.
11 . A surgical method comprising:
coupling a sleeve to a passage of a tracking array to form a mounting assembly, the tracking array comprising tracking markers that are in communication with a display;
placing a portion of a power drill within the mounting assembly;
attaching the portion to a housing of the power drill to form the power drill;
placing the mounting assembly in an end-effector of a robot arm such that the tracking markers face a tracking device;
tracking a position of the power drill with the tracking markers; and
displaying, on the display, the position of the power drill in relation to a patient undergoing surgery.
12 . The surgical method of claim 11 , further comprising placing an end of the portion in a verification passage.
13 . The surgical method of claim 12 , further comprising verifying the power drill based on a diameter of the end.
14 . The surgical method of claim 13 , further comprising displaying a verification of the power drill.
15 . The surgical method of claim 13 , further comprising displaying an error.
16 . The surgical method of claim 15 , further comprising displaying the error in millimeters.
17 . The surgical method of claim 16 , wherein the error is a difference in diameter between a desired instrument and an actual instrument.
18 . The surgical method of claim 11 , further comprising depressing a pedal to move the robot arm.
19 . The surgical method of claim 18 , further comprising aligning the robot arm on a selected trajectory.
20 . The surgical method of claim 19 , further comprising performing orthopedic operations with the power drill.