US 11,857,269 B2
Integrated medical imaging and surgical robotic system
Eugene A. Gregerson, Bolton, MA (US); Paul Sebring, Townsend, MA (US); Russell Stanton, Lunenberg, MA (US); Scott Coppen, Amesbury, MA (US); Adeline Harris, Grass Valley, CA (US); Todd Furlong, Goffstown, NH (US); and Jeff Baker, Goffstown, NH (US)
Assigned to Mobius Imaging, LLC, Shirley, MA (US)
Filed by Mobius Imaging, LLC, Shirley, MA (US)
Filed on Dec. 22, 2020, as Appl. No. 17/131,386.
Application 17/131,386 is a continuation of application No. 15/130,258, filed on Apr. 15, 2016, granted, now 10,959,783.
Claims priority of provisional application 62/147,924, filed on Apr. 15, 2015.
Prior Publication US 2021/0106391 A1, Apr. 15, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/05 (2021.01); A61B 34/20 (2016.01); A61B 6/00 (2006.01); A61B 5/00 (2006.01); A61B 34/30 (2016.01); A61B 46/10 (2016.01); A61B 90/00 (2016.01); A61B 5/055 (2006.01); A61B 6/12 (2006.01); A61B 5/11 (2006.01); A61B 5/06 (2006.01); A61B 6/03 (2006.01); A61B 6/04 (2006.01); A61B 8/08 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 5/0036 (2018.08); A61B 5/055 (2013.01); A61B 6/12 (2013.01); A61B 6/547 (2013.01); A61B 34/30 (2016.02); A61B 46/10 (2016.02); A61B 90/37 (2016.02); A61B 90/39 (2016.02); A61B 5/064 (2013.01); A61B 5/1114 (2013.01); A61B 5/1127 (2013.01); A61B 6/032 (2013.01); A61B 6/037 (2013.01); A61B 6/04 (2013.01); A61B 6/4441 (2013.01); A61B 6/4447 (2013.01); A61B 6/5264 (2013.01); A61B 8/0841 (2013.01); A61B 2034/2055 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3937 (2016.02); A61B 2505/05 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of performing robotically-assisted surgery, comprising:
moving an end effector and a robotic arm operatively attached with an imaging device with respect to a patient and the imaging device to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device;
moving the imaging device and the robotic arm relative to the patient by effecting linear translation along a base of the imaging device, moving the imaging device and the robotic arm linearly relative to the patient;
detecting a movement of the imaging device relative to the patient; and
obtaining an intraoperative image of the patient while moving the robotic arm, avoiding collisions with the imaging device and with the patient in response to detecting a movement of the imaging device relative to the patient.