	US 12,144,557 B2
	Robotic surgical system
Kai-Tai Song, New Taipei (TW); Shih-Wei Chiu, New Taipei (TW); and Bing-Yi Li, Taichung (TW)
Assigned to National Yang Ming Chiao Tung University, Hsinchu (TW)
Filed by National Yang Ming Chiao Tung University, Hsinchu (TW)
Filed on Oct. 27, 2022, as Appl. No. 18/050,332.
Claims priority of application No. 111129194 (TW), filed on Aug. 3, 2022.
Prior Publication US 2024/0041526 A1, Feb. 8, 2024
Int. Cl. A61B 34/10 (2016.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01)

CPC A61B 34/10 (2016.02) [A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 90/37 (2016.02); A61B 90/50 (2016.02); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2090/365 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/502 (2016.02)]

6 Claims

1. A robotic surgical system adapted to be operated by a person to perform a surgical operation on a patient in a workspace, a dynamic reference frame (DRF) being disposed on an affected part of the patient in a manner that a relative location of the affected part and the DRF remains unchanged, the robotic surgical system comprising:

a surgical robot that includes a movable platform, a robot base mounted on said movable platform, and a robotic arm extending from said robot base, said movable platform having a base marker mounted thereon, said robotic arm having one end that is connected to said robot base, and another end that holds a surgical instrument;

a wearable device worn by the person;

a camera disposed in the workspace for capturing images, said camera being associated with a navigation coordinate system (NCS); and

a computer device that is coupled to said surgical robot, said wearable device and said camera, and that stores therein data of a three-dimensional (3D) model associated with the affected part of the patient, and data of a pre-planned surgical path, the 3D model and the pre-planned surgical path being associated with a 3D coordinate system;

wherein:

said camera is configured to capture images of the base marker and the DRF, and transmit the images to said computer device for processing;

said computer device is configured to:

use the images that contain the DRF and that are captured by the camera to obtain a conversion relationship between the NCS and a reference coordinate system associated with the DRF,

based on the conversion relationship between the NCS and the reference coordinate system and a conversion relationship between the 3D coordinate system and the reference coordinate system, calculate a conversion relationship between a set of coordinates of a target point of the pre-planned surgical path and a set of coordinates of a corresponding real-world point in a base coordinate system associated with said robot base,

based on the conversion relationship between the set of coordinates of the target point of the pre-planned surgical path and the set of coordinates of the corresponding real-world point, control said robotic arm to move the surgical instrument according to the pre-planned surgical path,

calculate a conversion relationship between the DRF and a device coordinate system associated with said wearable device, and calculate a conversion relationship between the 3D coordinate system and the device coordinate system, based on the conversion relationship between the DRF and the device coordinate system associated with said wearable device and the conversion relationship between the 3D coordinate system and the reference coordinate system associated with the DRF, and

transmit the data of the 3D model and the data of the pre-planned surgical path to said wearable device, such that said wearable device is configured to present the 3D model in combination with the pre-planned surgical path as an AR image based on the conversion relationship between the 3D coordinate system and the device coordinate system;

wherein the conversion relationship between the set of coordinates of the target point of the pre-planned surgical path and the set of coordinates of the corresponding real-world point, represented as T_Target^RBCS, is calculated using the equation:

T_Target^RBCS=T_RBCS^BaseMarker^⁻¹T_BaseMarker^NCS^⁻¹T_DRF^NCST_CT^DRFT_Target^CT

where Target represents a set of coordinates of the target point that is associated with a corresponding point of the pre-planned surgical path and that is associated with the 3D coordinate system, RBCS represents the base coordinate system, BaseMarker represents a platform coordinate system associated with the base marker, the transformation matrix T_RBCS^BaseMarkerrepresents a conversion relationship between the platform coordinate system and the RBCS, T_DRF^NCSrepresents the conversion relationship between the reference coordinate system and the NCS, T_CT^DRFrepresents the conversion relationship between the 3D coordinate system and the reference coordinate system, and a transformation matrix T_Target^CTrepresents a conversion relationship between the pre-planned surgical path and the 3D model within the 3D coordinate system;

wherein the conversion relationship T_CT^DRFbetween the 3D coordinate system and the reference coordinate system is calculated using the equation:

T_CT^DRF=T_{DRF_CT}^DRFT_{intra_CT}^DRF_CTT_CT^intra_CT

where T_{DRF_CT}^DRFrepresents a conversion relationship between the reference coordinate system and an intraoperative coordinate system associated with an intraoperative 3D computerized tomography (CT) model of the affected part and the DRF, T_{intra_CT}^DRF_CTrepresents a conversion relationship between an affected part (AP) coordinate system associated with the affected part of the intraoperative 3D CT model and the intraoperative coordinate system, and T_CT^intra_CTrepresents a conversion relationship between the 3D model and the intraoperative 3D CT model.