Method and system for performing invasive medical procedures using a surgical robot

Abstract

A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.

What is claimed is: 
     
         1 . A medical robot system, comprising:
 a robot coupled to an effectuator element, the robot configured for controlled movement and positioning;   at least one instrument tracking marker coupled to an instrument, wherein the instrument is configured to be coupled to the end effectuator element;   a motor assembly coupled to the robot, the motor assembly being configured to move the end effectuator element;   a camera configured to receive one or more signals representing light emitted or reflected by the at least one instrument tracking marker; and   a control unit coupled to the motor assembly and the camera, the control unit configured to supply one or more instruction signals to the motor assembly, the instruction signals configured to cause the motor assembly to selectively move the end effectuator element;   an end effectuator element tracking marker system attached to the effectuator element for tracking movement of the effectuator element, wherein the end effectuator element tracking marker system is tracked by the camera via light emitted or reflected by the effectuator element tracking marker.   
     
     
         2 . The system of  claim 1 , wherein the instrument is optically guided. 
     
     
         3 . The system of  claim 1 , wherein a position signal is generated to provide the position of the instrument. 
     
     
         4 . The system of  claim 3 , wherein the position signal is generated an optical sensor. 
     
     
         5 . The system of  claim 1 , wherein the position of the surgical instrument is determined relative to a reference position. 
     
     
         6 . The system of  claim 1 , further comprising a display configured to show the location of the instrument relative to a patient. 
     
     
         7 . The system of  claim 1 , wherein the end effectuator element tracking marker system is configured to have a plurality of optical sensors to indicate the position of the end effectuator element. 
     
     
         8 . The system of  claim 7 , further comprising a display to show a position of the end effectuator element relative to a patient. 
     
     
         9 . The system of  claim 8 , wherein three optical sensors are located on a leading edge of the effectuator element. 
     
     
         10 . The system of  claim 1 , wherein the end effector element comprises a guide tube and the instrument is configured to be received into the guide tube. 
     
     
         11 . A system for performing a medical procedure, comprising:
 a robot comprising:
 an instrument 
 an end effectuator element, the end effectuator element configured to securely hold the instrument that is to be positioned at a desired location; 
 a motor assembly that that is configured to move the end effectuator element in each one of the x, y and z directions and 
 a control unit that is operatively coupled to the motor assembly, the control unit supplying signals to the robot to cause the motor assembly to selectively move the effectuator element along the x, y and z directions, the control unit being configured (i) to calculate the position of an instrument tracking marker affixed to the instrument by analysis of signals emitted by the instrument tracking marker (ii) display a position of the instrument with respect to a patient's body based on the calculated position of the instrument tracking marker, and (iii) to control actuation of the motor assembly. 
   
     
     
         12 . The system of  claim 11 , wherein the instrument is optically guided. 
     
     
         13 . The system of  claim 11 , wherein a position signal is generated to provide the position of the instrument. 
     
     
         14 . The system of  claim 13 , wherein the position signal is generated an optical sensor. 
     
     
         15 . The system of  claim 11 , wherein the position of the surgical instrument is determined relative to a reference position. 
     
     
         16 . The system of  claim 11 , further comprising a display configured to show the location of the instrument relative to a patient. 
     
     
         17 . The system of  claim 11 , wherein the end effectuator element includes an end effectuator element tracking marker system configured to have a plurality of optical sensors to indicate the position of the end effectuator element. 
     
     
         18 . The system of  claim 17 , further comprising a display to show a position of the end effectuator element relative to a patient. 
     
     
         19 . The system of  claim 18 , wherein three optical sensors are located on a leading edge of the effectuator element. 
     
     
         20 . The system of  claim 11 , wherein the end effector element comprises a guide tube and the instrument is configured to be received into the guide tube.