Surgical robot platform

Abstract

A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element

What is claimed is: 
     
         1 . A method of planning a surgery using a surgical robot system, said method comprising:
 planning a desired trajectory for a surgical instrument to reach a desired anatomical target; and   moving the surgical robot system to a position corresponding to the desired trajectory for the surgical instrument,   wherein the surgical robot system includes:
 a surgical robot having a controllable robot arm, the robot arm having an end effectuator comprising a guide tube; 
 a surgical instrument configured to be positioned through the guide tube and configured to be advanced into tissue of a patient; and 
 a stop mechanism configured to prevent the surgical instrument from advancing through the guide tube when the surgical instrument reaches a predetermined amount of protrusion. 
   
     
     
         2 . The method of  claim 1 , wherein the surgical robot is able to determine a maximum protrusion distance past an end of the guide tube that the surgical instrument is able to protrude. 
     
     
         3 . The method of  claim 2 , wherein the maximum protrusion distance is determined from known lengths of the guide tube and the surgical instrument, a known distance between respective ends of the surgical instrument, and a known location where the stop mechanism is attached. 
     
     
         4 . The method of  claim 2 , wherein the maximum protrusion distance of the surgical instrument is monitored. 
     
     
         5 . The method of  claim 1 , wherein an actual protrusion distance of the surgical instrument is monitored during insertion. 
     
     
         6 . The method of  claim 5 , wherein the actual protrusion distance of the surgical instrument is substantially continuously monitored and is displayed on a display. 
     
     
         7 . The method of  claim 5 , wherein the actual protrusion distance is monitored with a spring-loaded plunger including a spring-loaded mechanism and sensor pad having a coupled wiper. 
     
     
         8 . The method of  claim 7 , wherein the stop mechanism is configured to contact the spring-loaded mechanism before it encounters the end of the guide tube. 
     
     
         9 . The method of  claim 7 , wherein, when the wiper moves across the sensor pad, a linear position of the wiper is sampled, thereby permitting calculation of the actual protrusion distance. 
     
     
         10 . The method of  claim 1 , wherein the surgical instrument is a drill bit and the drill bit includes the stop mechanism. 
     
     
         11 . The method of  claim 10 , wherein the stop mechanism on the drill bit is manually adjustable with reference to markings on the drill bit. 
     
     
         12 . The method of  claim 10 , wherein the drill bit includes release mechanisms on each end of the stop mechanism. 
     
     
         13 . The method of  claim 10 , wherein the drill bit includes a locking mechanism configured to lock and hold the drill bit in a set position relative to the guide tube. 
     
     
         14 . The method of  claim 13 , wherein the locking mechanism includes two clam shells, and the drill bit is locked into position by closing the clam shells around the stop mechanism. 
     
     
         15 . A method of planning a surgery using a surgical robot system, said method comprising:
 planning a desired trajectory for a surgical instrument to reach a desired anatomical target; and   moving the surgical robot system to a position corresponding to the desired trajectory for the surgical instrument,   wherein the surgical robot system includes:
 a surgical robot having a controllable robot arm, the robot arm having an end effectuator comprising a guide tube; and 
 a surgical instrument configured to slide through the guide tube, wherein the surgical instrument or the guide tube includes a stop mechanism to prevent the surgical instrument from advancing through the guide tube at a predetermined location. 
   
     
     
         16 . The method of  claim 15 , wherein the surgical robot is able to determine a maximum protrusion distance past an end of the guide tube that the surgical instrument is able to protrude. 
     
     
         17 . The method of  claim 16 , wherein the maximum protrusion distance is determined from known lengths of the guide tube and the surgical instrument, a known distance between respective ends of the surgical instrument, and a known location where the stop mechanism is attached. 
     
     
         18 . The method of  claim 16 , wherein the maximum protrusion distance of the surgical instrument is monitored. 
     
     
         19 . The method of  claim 15 , wherein an actual protrusion distance of the surgical instrument is monitored during insertion. 
     
     
         20 . The method of  claim 19 , wherein the actual protrusion distance of the surgical instrument is substantially continuously monitored and is displayed on a display.