Automatic probe reinsertion

Abstract

In accordance with one embodiment, an automated probe system includes a probe configured to be reversibly inserted into a live body part, a robotic arm attached to the probe and configured to manipulate the probe, a first sensor configured to track movement of the probe during an insertion and a reinsertion of the probe in the live body part, a second sensor configured to track movement of the live body part, and a controller configured to calculate an insertion path of the probe in the live body part based on the tracked movement of the probe during the insertion, and calculate a reinsertion path of the probe based on the calculated insertion path while compensating for the tracked movement of the live body part, and send control commands to the robotic arm to reinsert the probe in the live body part according to the calculated reinsertion path.

1 .- 20 . (canceled) 
     
     
         21 . A robotic surgical system comprising:
 (a) a magnetic field radiation assembly configured to surround a head of a patient;   (b) a probe configured to be inserted into the head of the patient, wherein the probe includes an exterior and a distal end;   (c) a robotic arm selectively coupled with the probe and configured to manipulate the probe relative to the head of the patient;   (d) a first sensor configured to provide signals indicative of a position and orientation of the distal end relative to the patient; and   (e) a sensor holder configured to selectively couple the first sensor with the probe, wherein the sensor holder includes a through hole sized and configured to receive the exterior of the probe, wherein the sensor holder is moveable along the exterior of the probe between first and second longitudinal positions.   
     
     
         22 . The robotic surgical system of  claim 21 , further comprising a second sensor configured to attach to the patient, wherein the magnetic field radiation assembly includes a plurality of magnetic field radiators configured to radiate alternating magnetic fields at respective frequencies into a region that includes the head of a patient, wherein the alternating magnetic fields are configured to induce the signals in the first and second sensors. 
     
     
         23 . The robotic surgical system of  claim 21 , wherein the sensor holder completely encapsulates the first sensor. 
     
     
         24 . A method of preparing a probe of a surgical system and using the probe in a patient, the method comprising:
 (a) positioning a magnetic field radiation assembly of the surgical system relative to a patient;   (b) positioning a sensor holder, which includes a first sensor, onto a probe;   (c) moving the sensor holder, including the first sensor, along an exterior of the probe;   (d) fixing the position of the sensor holder relative to the probe to prevent movement of the sensor holder relative to the probe;   (e) contacting a distal end of the probe against the patient while a robotic arm of the surgical system is coupled with the probe;   (f) determining a position and an orientation of the first sensor relative to the distal end of the probe while contacting the distal end of the probe against the patient;   (g) positioning a second sensor directly on a head of the patient;   (h) inserting the probe into the patient;   (i) generating signals from the first and second sensors in response to magnetic fields from the magnetic field radiation assembly interacting with the first and second sensors;   (j) determining a position and an orientation of the distal end of the probe within the patient based on the signals received from the first sensor and further based on the position and the orientation of the first sensor relative to the distal end of the probe using a processor of the surgical system; and   (k) tracking movement of the head of the patient using the second sensor.   
     
     
         25 . The method of  claim 24 , wherein the second sensor is configured to track movement of the head of the patient, including movement of the patient during insertion and reinsertion of the probe into the head of the patient. 
     
     
         26 . The method of  claim 24 , wherein positioning the sensor holder further comprises inserting the sensor holder through a proximal end or a distal end of the probe or inserting the proximal end or the distal end of the probe into the sensor holder. 
     
     
         27 . The method of  claim 24 , wherein positioning the sensor holder further comprises positioning the sensor holder while the probe is coupled with the robotic arm of the surgical system. 
     
     
         28 . The method of  claim 24 , wherein moving the sensor holder, including the first sensor, along the probe further comprises translating the sensor holder from a first position to a second position along the probe. 
     
     
         29 . The method of  claim 24 , wherein positioning the distal end of the probe further comprises manually contacting the distal end of the probe with the patient. 
     
     
         30 . The method of  claim 24 , wherein positioning the magnetic field radiation assembly further comprises mounting the magnetic field radiation assembly beneath or behind the head of the patient. 
     
     
         31 . The method of  claim 24 , wherein coupling the sensor holder with the probe further comprises manually coupling the sensor holder with the probe to prevent relative movement between the sensor holder and the probe. 
     
     
         32 . The method of  claim 24 , wherein the exterior of the probe includes a cylindrical rigid outer surface that at least partially defines the exterior, wherein the sensor holder includes a through hole, the method further comprising inserting the cylindrical rigid outer surface into the through hole or inserting the through hole of sensor holder onto the cylindrical rigid outer surface. 
     
     
         33 . The method of  claim 24 , further comprising:
 (a) scanning the head of the patient using computerized tomography (CT) to produce CT data;   (b) registering a frame of reference of the magnetic field radiation assembly with a frame of reference of the CT; and   (c) generating an external image of the patient using the CT data.   
     
     
         34 . The method of  claim 33 , further comprising displaying the external image on a display screen associated with the surgical system. 
     
     
         35 . The method of  claim 24 , wherein the magnetic field radiation assembly includes a plurality of magnetic field radiators, the method further comprising:
 (a) surrounding the head of the patient with the plurality of magnetic field radiators; and   (b) radiating alternating magnetic fields using the plurality of magnetic field radiators at respective frequencies into a region that includes the head of the patient.   
     
     
         36 . The method of  claim 24 , wherein the sensor holder completely encapsulates the first sensor. 
     
     
         37 . A method of preparing a probe of a surgical system and using the probe in a patient, the method comprising:
 (a) positioning a magnetic field radiation assembly of the surgical system relative to a patient;   (b) positioning a sensor holder, which includes a first sensor, onto a probe;   (c) manually moving the sensor holder including the first sensor, along an exterior of the probe;   (d) manually fixing the position of the sensor holder relative to the probe to prevent movement of the sensor holder relative to the probe;   (e) contacting a distal end of the probe against the patient while a robotic arm of the surgical system is coupled with the probe; and   (f) determining a position and an orientation of the first sensor relative to the distal end of the probe while contacting the distal end of the probe against the patient;   (g) inserting the probe into the patient; and   (h) determining a position and orientation of the distal end of the probe in the patient, based at least in part on one or more signals generated by the first sensor.   
     
     
         38 . The method of  claim 37 , the one or more signals being generated by the first sensor in response to magnetic fields from the magnetic field radiation assembly interacting with the first sensor; the act of determining a position and orientation of the distal end of the probe in the patient being performed at least in part by a processor of the surgical system.