SURGICAL ROBOT PLATFORM
A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element and is further configured to (i) calculate a position of the at least one transmitter by analysis of the signals received by the plurality of receivers; (ii) display the position of the at least one transmitter with respect to the body of the patient; and (iii) selectively control actuation of the motor assembly in response to the signals received by the plurality of receivers.
1 . A method of detecting a loss of tracking an anatomical structure of a patient during a surgery, the method comprising:
providing a surgical system including:
a tracking system including a plurality of sensors fixedly spaced from each other;
a patient tracker array including a plurality of tracking markers spaced from each other in a predetermined pattern trackable by the sensors of the tracking system;
a surveillance marker trackable by the sensors of the tracking system;
attaching the patient tracker array to the anatomical structure;
attaching the surveillance marker at a distance away from the patient tracker array;
during the surgery, automatically and continuously receiving a position of the attached surveillance marker relative to a position of the attached patient tracker array from the tracking system;
generating an alert when a shift of the attached surveillance marker relative to the attached patient tracker array is determined based on the continuously received position.
2 . The method of claim 1 , wherein automatically and continuously receiving includes continuously receiving a video frame of real-time data from the sensors of the tracking system and calculating updated distances between the surveillance marker and the tracking array based on the received video frame of real-time data.
3 . The method of claim 2 , wherein automatically and continuously receiving includes determining the shift by determining one or more vector distances between the surveillance marker and the patient tracker array.
4 . The method of claim 1 , wherein the patient-tracker array contains at least three tracking markers.
5 . The method of claim 4 , wherein automatically and continuously receiving includes determining a vector distance between each of the plurality of tracking markers and the surveillance marker.
6 . The method of claim 5 , wherein the alert is generated based on a change in one or more of the vector distances.
7 . The method of claim 1 , wherein further comprising halting a movement of a surgical robot based upon determining that the distance between the surveillance marker and the tracking array exceeds a pre-set amount.
8 . The method of claim 1 , wherein:
attaching the surveillance marker includes attaching the surveillance marker to a first vertebral body;
attaching the patient tracker array includes attaching the patient tracker array to a second vertebral body.
9 . The method of claim 1 , wherein
attaching the surveillance marker includes attaching the surveillance marker to an illium of the anatomical structure;
attaching the patient tracker array includes attaching the patient tracker array to a vertebral body of the anatomical structure.
10 . The method of claim 1 , wherein the tracking markers are optical markers that are detectable by the sensors of the tracking system.
11 . A method of detecting a loss of tracking an anatomical structure of a patient during a surgery, the method comprising:
providing a surgical system including:
a tracking system including a plurality of sensors fixedly spaced from each other;
a patient tracker array including a plurality of tracking markers spaced from each other in a predetermined pattern trackable by the sensors of the tracking system;
a surveillance marker trackable by the sensors of the tracking system; and
a processor coupled to the tracking system;
attaching the patient tracker array to the anatomical structure;
attaching the surveillance marker at a distance away from the patient tracker array;
under the controller of the processor during the surgery,
automatically and continuously receiving from the tracking system a position of the attached surveillance marker and a position of the attached patient tracker array;
determining vector distances between the surveillance marker and each of the plurality of tracking markers based on the continuously received position; and
generating an alert when a shift of the attached surveillance marker relative to the attached patient tracker array is determined based on the determined vector distances.
12 . The method of claim 11 , wherein automatically and continuously receiving includes continuously receiving a video frame of real-time data from the sensors of the tracking system and calculating updated vector distances between the surveillance marker and the tracking array based on the received video frame of real-time data.
13 . The method of claim 11 , wherein the patient-tracker array contains at least three tracking markers.
14 . The method of claim 11 , wherein further comprising halting a movement of a surgical robot based upon determining that the vector distance between the surveillance marker and the tracking array exceeds a pre-set amount.
15 . The method of claim 11 , wherein:
attaching the surveillance marker includes attaching the surveillance marker to a first vertebral body;
attaching the patient tracker array includes attaching the patient tracker array to a second vertebral body.
16 . The method of claim 11 , wherein
attaching the surveillance marker includes attaching the surveillance marker to an illium of the anatomical structure;
attaching the patient tracker array includes attaching the patient tracker array to a vertebral body of the anatomical structure.
17 . The method of claim 11 , wherein the tracking markers are optical markers that are detectable by the sensors of the tracking system.