Methods for Performing Invasive Medical Procedures Using a Surgical Robot

Abstract

Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.

What is claimed is: 
     
         1 . A method for removing bone with a robot system comprising:
 reformatting a two-dimensional slice perpendicular to the surgical entry pathway from a computed tomography scan volume of a patient anatomy;   defining a perimeter on a pathway through the anatomy; and   controlling a drill assembly with the robot system to remove bone from the pathway in the intersection of the perimeter and the two-dimensional slice.   
     
     
         2 . The method of  claim 1 , further comprising controlling a tubular element with the robot system to place the tubular element adjacent to a target anatomy. 
     
     
         3 . The method of  claim 2 , wherein the drill assembly is placed through the tubular element. 
     
     
         4 . The method of  claim 2 , wherein the tubular element is advanced farther into the patient after the drill assembly removes bone from the pathway. 
     
     
         5 . The method of  claim 1 , wherein sections of bone for drilling and soft tissue for avoiding are automatically demarcated using grayscale thresholding, and further wherein controlling the drill assembly to drill only in the area demarcated as bone. 
     
     
         6 . The method of  claim 1 , wherein the two-dimensional slice is based on a CT scan and identifies a critical structure. 
     
     
         7 . The method of  claim 6 , wherein a second perimeter is placed around the critical structure. 
     
     
         8 . The method of  claim 7 , controlling the drill assembly to remove bone around the second perimeter but within the first perimeter. 
     
     
         9 . A method for inserting a tubular element into a patient with a robot system comprising:
 loading a computed tomography scan volume on to the robot system;   programming a route for the tubular element to travel through the patient to a target anatomical location on a display, wherein the display may manipulate the robot system; and   controlling the tubular element with the robot system to guide the tubular element along the programmed route through the patient.   
     
     
         10 . The method of  claim 9 , wherein the programmed route may be altered by a surgeon while the robot system is moving the tubular element through the patient. 
     
     
         11 . The method of  claim 9 , wherein a neural sensing probe is inserted into the tubular element before insertion into the patient. 
     
     
         12 . The method of  claim 11 , wherein the route may be automatically changed by the robot system based upon the neural activity sensed by the neural probe. 
     
     
         13 . The method of  claim 9 , wherein the display is separate from the robot system. 
     
     
         14 . A method for aligning vertebrae for a surgical procedure using a robot system comprising:
 inserting a tubular element into a patient and next to a disc space between adjacent vertebral bodies;   attaching the tubular element to an end-effectuator of the robot system; and   controlling a vertebral alignment tool with the robot system to insert the vertebral alignment tool through the tubular element such that the vertebral alignment tool is inserted between the adjacent vertebral bodies to distract the adjacent vertebral bodies.   
     
     
         15 . The method of  claim 14 , further comprising rotating the end-effectuator of the robot system to align the vertebral alignment tool with disc space between the adjacent vertebral bodies. 
     
     
         16 . The method of  claim 15 , wherein a locking dial portal is used to align the vertebral alignment tool. 
     
     
         17 . The method of  claim 14 , wherein the tubular element is inserted into the patient while attached to the end-effectuator, the tubular element being controlled by the robot system. 
     
     
         18 . The method of  claim 14 , wherein the vertebral alignment tool has a working channel. 
     
     
         19 . The method of  claim 18 , further comprising inserting one or more additional surgical tools through the working channel and into disc space between the adjacent vertebral bodies. 
     
     
         20 . The method of  claim 14 , further comprising removing disc material from between the adjacent vertebral bodies through a working channel in the vertebral alignment tool.