US 12,144,570 B2
Robotic surgical system and method for configuring a surgical robot
Stefan Saur, Aalen (DE); and Christoph Hauger, Aalen (DE)
Assigned to Carl Zeiss Meditec AG, Jena (DE)
Filed by Carl Zeiss Meditec AG, Jena (DE)
Filed on Aug. 5, 2020, as Appl. No. 16/986,241.
Prior Publication US 2022/0039883 A1, Feb. 10, 2022
Int. Cl. A61B 34/30 (2016.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); G05B 13/02 (2006.01); G05B 13/04 (2006.01); G16H 10/60 (2018.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); G16H 50/20 (2018.01); G16H 50/50 (2018.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [B25J 9/163 (2013.01); B25J 9/1671 (2013.01); B25J 13/08 (2013.01); B25J 15/0019 (2013.01); G05B 13/0265 (2013.01); G05B 13/04 (2013.01); G16H 10/60 (2018.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); G16H 50/20 (2018.01); G16H 50/50 (2018.01); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/301 (2016.02); A61B 2090/3735 (2016.02); A61B 2090/378 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A robotic surgical system for treating a patient, the robotic surgical system being autonomously controlled in a practice mode, the robotic surgical system comprising:
a surgical robot comprising a moveable robot member and configured to perform a real surgical treatment on a patient in the practice mode;
at least one actuator configured to move the moveable robot member to 6D poses in a surgical field and to drive the moveable robot member to act in the surgical field;
at least one robot sensor configured to provide robot sensor data giving the at least one actuator a feedback signal and depending on conditions in the surgical field;
a control device configured to control the at least one actuator according to control data and under feedback of the robot sensor data; and
a processing unit comprising:
a patient specific virtual anatomical model including a virtual surgical field;
a virtual surgical robot simulating a movement and driving of the moveable robot member;
a surgical simulator reading the patient specific virtual anatomical model and reading the virtual surgical robot regarding the movement and the driving of the moveable robot member;
a sensor simulator creating simulated robot sensor data for the virtual surgical robot and simulated patient sensor data based on an actual state of the virtual surgical robot and the patient specific virtual anatomical model fed by the surgical simulator; and
a machine learning unit configured to perform a machine learning process to create control data by the machine learning process, the machine learning unit reading the sensor simulator, the virtual surgical robot and the virtual surgical field and feeding the virtual surgical robot, and
wherein the processing unit is configured to:
generate the control data in a learning mode by simulating a surgical treatment, and
provide the control data to the control device to control the surgical robot autonomously in the practice mode to perform the real surgical treatment on the patient.