US 11,751,948 B2
Methods and systems for robot-assisted surgery
Eugene Gregerson, Bolton, MA (US); Todd Furlong, Goffstown, NH (US); Scott Coppen, Amesbury, MA (US); Jeff Baker, Goffstown, NH (US); Steve White, Hudson, MA (US); and Russell Stanton, Lunenburg, MA (US)
Assigned to Mobius Imaging, LLC, Shirley, MA (US)
Appl. No. 16/344,720
Filed by Mobius Imaging, LLC, Shirley, MA (US)
PCT Filed Oct. 24, 2017, PCT No. PCT/US2017/058105
§ 371(c)(1), (2) Date Jun. 17, 2019,
PCT Pub. No. WO2018/081136, PCT Pub. Date May 3, 2018.
Claims priority of provisional application 62/412,422, filed on Oct. 25, 2016.
Prior Publication US 2020/0078097 A1, Mar. 12, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/32 (2016.01); A61B 5/055 (2006.01); A61B 6/03 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 17/3423 (2013.01); A61B 34/32 (2016.02); A61B 34/76 (2016.02); A61B 5/055 (2013.01); A61B 6/032 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/2072 (2016.02)] 7 Claims
OG exemplary drawing
 
1. A method for defining a boundary surface for a robotic surgery system, comprising:
identifying at least a portion of an epidermal surface of a patient in an image dataset of an anatomy of the patient, wherein the image dataset comprises at least one of a three-dimensional x-ray CT reconstruction and a three-dimensional MRI dataset;
generating a boundary surface based on the identified epidermal surface, wherein the boundary surface comprises a virtual three-dimensional surface above the epidermal surface of the patient;
registering the image dataset and the boundary surface within a patient coordinate system;
defining a target location below the epidermal surface of the patient; and
controlling a robotic arm to:
maintain an end effector of the robotic arm pointed along a trajectory intersecting with the target location and with the boundary surface;
allow movement of the robotic arm to advance the end effector along the trajectory toward the target location; and
prevent the end effector from crossing the boundary surface, the end effector configured as a cannula configured to allow one or more instruments to removably pass through the cannula to the target location along the trajectory.