US 12,257,009 B2
Articulated robotic platform
Bálint Várkut, Munich (DE); and Dirk Schöttle, Munich (DE)
Assigned to Brainlab AG, Munich (DE)
Appl. No. 17/256,713
Filed by Brainlab AG, Munich (DE)
PCT Filed Jul. 18, 2019, PCT No. PCT/EP2019/069413
§ 371(c)(1), (2) Date Dec. 29, 2020,
PCT Pub. No. WO2020/020749, PCT Pub. Date Jan. 30, 2020.
Claims priority of application No. PCT/EP2018/069940 (WO), filed on Jul. 23, 2018.
Prior Publication US 2021/0259791 A1, Aug. 26, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 90/10 (2016.01); A61B 90/14 (2016.01); A61B 90/57 (2016.01); A61B 90/50 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 34/70 (2016.02); A61B 90/14 (2016.02); A61B 90/57 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/304 (2016.02); A61B 2090/103 (2016.02); A61B 2090/5025 (2016.02)] 18 Claims
OG exemplary drawing
 
1. An articulated robotic platform for medical tool positioning, comprising:
a medical tool support;
a plurality of support members connected to the medical tool support, wherein at least one support member comprises an articulated connection to the medical tool support and a distal end configured to be directly attached to an anchor member provided as a fiducial marker; and
a first joint portion configured to secure the articulated robotic platform in a controlled spatial relationship to an articulated robotic arm,
wherein the articulated robotic platform further comprises at least one positioning sensor configured for determining a position of the articulated robotic platform, wherein the at least one positioning sensor is at least partly disposed at the at least one support member,
wherein the articulated robotic platform is configured to move along an intervention path defined by a plurality of independent anchor members by repositioning the at least one support member at a next anchor member along the intervention path, the next anchor member provided as a next fiducial marker, by directly attaching the distal end of the at least one support member to the next fiducial marker.
 
14. A system for controlling a position of an articulated robotic platform in proximity to a patient, the system comprising:
an articulated robotic arm including a plurality of articulated arm sections, wherein a distal articulated arm section of the plurality of articulated arm sections is supported by a base support, wherein a proximal articulated arm section of the plurality of articulated arm sections comprises a second joint portion; and
the articulated robotic platform comprising:
a medical tool support;
a plurality of support members connected to the medical tool support, wherein at least one support member comprises an articulated connection to the medical tool support and a distal end configured to be directly attached to an anchor member provided as a fiducial marker;
a first joint portion configured to secure the articulated robotic platform in a controlled spatial relationship to the articulated robotic arm; and
at least one positioning sensor configured for determining a position of the articulated robotic platform, wherein the at least one positioning sensor is at least partly disposed at the at least one support member,
wherein the first joint portion of the articulated robotic platform is connected to the second joint portion of the articulated robotic arm to enable the articulated robotic platform to balance against a counterbalancing force provided, in operation, by the articulated robotic arm to stabilize the articulated robotic platform,
wherein the articulated robotic platform is configured to move along an intervention path defined by a plurality of independent anchor members by repositioning the at least one support member at a next anchor member along the intervention path, the next anchor member provided as a next fiducial marker, by directly attaching the distal end of the at least one support member to the next fiducial marker.