Methods and systems for performing computer assisted surgery
Methods and systems for performing computer-assisted surgery, including robot-assisted image-guided surgery. Embodiments include marker devices for an image guided surgery system, marker systems and arrays for tracking a robotic arm using a motion tracking system, and image guided surgery methods and systems using optical sensors.
1 . A marker device for an image guided surgery system, comprising:
an electronics unit comprising at least one light source;
a rigid frame attached to a robotic arm of a surgical robot and to the electronics unit, the rigid frame having at least one channel extending from the electronics unit to at least one opening in the rigid frame, wherein the electronics unit is removable from the rigid frame; and
an optical guide apparatus located within the at least one channel to couple light from the at least one light source of the electronics unit to the at least one opening in the rigid frame, wherein the optical guide apparatus is removable from the rigid frame,
wherein the optical guide apparatus includes at least one optical fiber.
2 . The marker device of claim 1 , wherein the at least one optical fiber is a light pipe.
3 . The marker device of claim 1 , wherein the rigid frame comprises a plurality of channels extending from the electronics unit to a plurality of openings in the rigid frame, and the optical guide apparatus couples light from the at least one light source to each of the plurality of openings in the rigid frame.
4 . The marker device of claim 1 , wherein the electronics unit and the optical guide apparatus comprise an integral unit that is removable from the rigid frame.
5 . The marker device of claim 1 , wherein the electronics unit and the optical guide apparatus comprise separate components that are each removable from the rigid frame.
6 . The marker device of claim 1 , wherein the rigid frame is a re-sterilizable component configured for multiple surgical uses and at least one of the electronics unit and the optical guide apparatus comprises a single-use disposable component.
7 . The marker device of claim 1 , further comprising a plurality of optical diffusers located over the plurality of openings in the rigid frame.
8 . The marker device of claim 1 , further comprising an end effector attached to a distal end of the robotic arm, and wherein the rigid frame is attached to the end effector.
9 . The marker device of claim 1 , wherein the at least one light source comprises a light emitting diode (LED).
10 . The marker device of claim 9 , wherein the electronics unit comprises circuitry configured to control operation of the at least one light source; and
a communication circuit configured to communicate with an external device.
11 . The marker device of claim 1 , wherein the at least one light source comprises at least one infrared light source.
12 . The marker device of claim 11 , wherein the electronics unit further comprises at least one visible light source that is configured to provide visual feedback to a user.
13 . The marker device of claim 12 , wherein the optical guide apparatus couples light from the at least one visible light source to the at least one opening in the rigid frame.
14 . A surgical system comprising:
a robotic arm including a plurality of links between a proximal end and a distal end of the robotic arm, each of the plurality of links having a respective outer surface with an opening extending through the outer surface;
an end effector attached to the distal end of the robotic arm; and
a marker system for tracking the robotic arm using a motion tracking system, the marker system comprising:
one or more marker devices having a frame attached to the end effector, at least one light source removably attached to the frame, and an optical guide located within and removable from the frame, the optical guide configured to transmit light from the light source through one or more channels in the frame, the optical guide comprising an optical fiber.
15 . The system of claim 14 , further comprising an imaging device, the imaging device including one or more markers, wherein the marker system is further configured for tracking the imaging device.
16 . The system of claim 14 , wherein the one or more marker devices comprise one or more active markers.
17 . The system of claim 14 , wherein the at least one light source comprises at least one infrared light source.