US 12,336,775 B2
Surgical robot platform
Neil R. Crawford, Chandler, AZ (US); Nicholas Theodore, Paradise Valley, AZ (US); and Mitchell A. Foster, Scottsdale, AZ (US)
Assigned to Globus Medical Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Oct. 8, 2019, as Appl. No. 16/595,578.
Application 16/595,578 is a continuation of application No. 15/462,280, filed on Mar. 17, 2017, granted, now 10,485,617.
Application 15/462,280 is a continuation of application No. 13/924,505, filed on Jun. 21, 2013, granted, now 9,782,229, issued on Oct. 10, 2017.
Claims priority of provisional application 61/800,527, filed on Mar. 15, 2013.
Claims priority of provisional application 61/662,702, filed on Jun. 21, 2012.
Prior Publication US 2020/0155243 A1, May 21, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 5/06 (2006.01); A61B 10/02 (2006.01); A61B 17/02 (2006.01); A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 17/70 (2006.01); A61B 17/88 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/32 (2016.01); A61B 46/20 (2016.01); A61B 50/13 (2016.01); A61B 90/00 (2016.01); A61B 90/14 (2016.01); A61B 90/96 (2016.01); A61B 90/98 (2016.01); A61M 5/172 (2006.01); A61N 1/05 (2006.01); B25J 9/10 (2006.01); A61B 17/00 (2006.01); A61B 90/11 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 5/061 (2013.01); A61B 5/062 (2013.01); A61B 5/066 (2013.01); A61B 10/02 (2013.01); A61B 10/0233 (2013.01); A61B 10/0275 (2013.01); A61B 17/025 (2013.01); A61B 17/1615 (2013.01); A61B 17/1671 (2013.01); A61B 17/1703 (2013.01); A61B 17/1757 (2013.01); A61B 17/7082 (2013.01); A61B 17/8866 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/32 (2016.02); A61B 34/70 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 46/20 (2016.02); A61B 50/13 (2016.02); A61B 90/14 (2016.02); A61B 90/37 (2016.02); A61B 90/39 (2016.02); A61B 90/96 (2016.02); A61B 90/98 (2016.02); A61M 5/172 (2013.01); A61N 1/0529 (2013.01); B25J 9/1065 (2013.01); A61B 5/064 (2013.01); A61B 2010/0208 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/00203 (2013.01); A61B 2017/00207 (2013.01); A61B 2017/00876 (2013.01); A61B 2017/0256 (2013.01); A61B 17/17 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/301 (2016.02); A61B 2034/741 (2016.02); A61B 2034/742 (2016.02); A61B 2034/743 (2016.02); A61B 2034/744 (2016.02); A61B 2090/034 (2016.02); A61B 2090/064 (2016.02); A61B 2090/0811 (2016.02); A61B 90/11 (2016.02); A61B 2090/365 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3764 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3941 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/395 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/3975 (2016.02); A61B 2090/3979 (2016.02); A61B 2090/3983 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A medical robot system, comprising:
a robot including a display and an arm;
an end effector adapted to couple to the arm and having a guide tube through which a surgical instrument is inserted;
a dynamic reference base capable of being coupled to a patient;
an optical tracking system configured to track the position of the arm, the end effector and the reference base, including a surveillance marker configured to be couple to the patient; and
a control unit coupled to the robot and the optical tracking system, the control unit providing image registration data of the patient and the robot to the display,
wherein the optical tracking system includes optical markers positioned on the arm, the reference base and the end effector,
wherein the control unit implements a planned insertion trajectory of the surgical instrument through the guide tube of the end effector causing the robot arm to position the end effector along a trajectory vector,
wherein a notification of a loss of movement accuracy is indicated when an initial calculated distance between the surveillance marker and each of the optical markers on the reference base differs from a subsequent calculated distance between the surveillance marker and each of the optical markers on the reference base.