System and method for determining and maintaining a center of rotation

Abstract

Methods and systems for determining and maintaining a center of rotation are provided. The center of rotation can be determined based on first information about a robot region of interest of a robot and second information about a patient region of interest. A surgical table having multiple degrees of freedom can be caused to rotate about the center of rotation from a first position to a second position. A control system can be caused to control the robot based on the surgical table being in the second position.

Description

Technical Field

[0001] This technology generally relates to controlling an operating table, and more specifically to determining and maintaining the center of rotation of the operating table. Background Technology

[0002] The operating table can have multiple degrees of freedom and can rotate and / or translate to position the patient in the desired location. Robots can be used in conjunction with certain surgical procedures to assist surgeons and / or perform surgical procedures autonomously. Summary of the Invention

[0003] Exemplary aspects of this disclosure include:

[0004] An operating table control system according to at least one embodiment of the present disclosure includes: a memory storing instructions; and a processor configured to execute the instructions, which cause the processor to: determine a rotation center based on first information about a robot region of interest and second information about a patient region of interest; rotate an operating table with multiple degrees of freedom about the rotation center from a first position to a second position; and control the robot based on the operating table being in the second position.

[0005] Any aspect of this article, wherein the second information includes the preoperative plan.

[0006] Any aspect of this article, where the second position corresponds to a step in the preoperative planning.

[0007] Any aspect of this article, in which the operating table can move independently of the robot.

[0008] In any aspect of this paper, these instructions further enable the processor to automatically update the registration between the robot coordinate space and the patient coordinate space based on the rotation of the operating table from the first position to the second position.

[0009] In any of the aspects of this paper, the volume of the patient's region of interest is larger than the volume of the robot's region of interest, and the operating table can be selectively moved to move any location within the patient's region of interest into the robot's region of interest.

[0010] In any of the aspects of this paper, the rotation center is a first rotation center, and the instructions further enable the processor to determine a second rotation center based on the robot's region of interest and the patient's region of interest.

[0011] Any aspect of this paper, wherein the robot region of interest comprises multiple robot regions of interest, each robot region of interest corresponding to one of the multiple robots.

[0012] Any aspect of this paper, wherein these instructions further enable the processor to determine a combined region of robot interest based on multiple regions of robot interest.

[0013] Any aspect of this paper, wherein the center of rotation is further based on the combined robot region of interest.

[0014] Any aspect of this article, wherein the second information corresponds to at least one of input from the surgeon, sensor data from at least one sensor, or input from the navigation system.

[0015] In any aspect of this article, the patient’s area of ​​interest is located above the surface of the operating table.

[0016] In any of the aspects of this article, the patient’s region of interest is smaller than the robot’s region of interest, and the rotation of the operating table around the center of rotation ensures that the patient’s region of interest remains within the robot’s region of interest.

[0017] A method for determining and maintaining a rotation center according to at least one embodiment of the present disclosure includes: determining the rotation center based on first information about a robot region of interest and second information about a patient region of interest; rotating an operating table having multiple degrees of freedom about the rotation center from a first position to a second position; and controlling the robot based on the operating table being in the second position.

[0018] Any aspect of this article, wherein the second information includes the preoperative plan.

[0019] Any aspect of this article, where the second position corresponds to a step in the preoperative planning.

[0020] Any aspect of this article, in which the operating table can move independently of the robot.

[0021] Any aspect of this article, wherein the second information corresponds to at least one of input from the surgeon, sensor data from at least one sensor, or input from the navigation system.

[0022] A method for determining and maintaining multiple rotation centers according to at least one embodiment of the present disclosure includes: determining a first rotation center based on first information about a robot region of interest and second information about a first patient region of interest; determining a second rotation center based on the first information and third information about a second patient region of interest; rotating an operating table having multiple degrees of freedom around the first rotation center from a first position to a second position; controlling the robot based on the operating table being in the second position; moving the operating table to a third position to position the second rotation center within the robot region of interest; and controlling the robot based on the operating table being in the third position.

[0023] Any aspect of this article, wherein the first rotation center corresponds to a first surgical procedure in a first patient region of interest, and the second rotation center corresponds to a second surgical procedure in a second patient region of interest.

[0024] Details of one or more aspects of this disclosure are set forth in the following drawings and description. Other features, objectives, and advantages of the technology described in this disclosure will be apparent from the specification, drawings, and claims.

[0025] The phrases "at least one," "one or more," and "and / or" are open-ended expressions that possess both connective and disjoint qualities in operation. For example, the expressions "at least one of A, B, and C," "at least one of A, B, or C," "one or more of A, B, and C," "one or more of A, B, or C," and "A, B, and / or C" mean only A, only B, only C, A and B together, A and C together, B and C together, or A, B, and C together. When each of A, B, and C in the above expressions refers to an element such as X, Y, and Z, or such as X1-X... n Y1-Y m and Z1-Z o When referring to a single class of elements, the phrase means a single element selected from X, Y, and Z; a combination of elements selected from the same class (e.g., X1 and X2); or elements selected from two or more classes (e.g., Y1 and Z). o () combination.

[0026] The term "a / an" refers to one or more of the entities mentioned. Thus, the terms "a / an," "one or more," and "at least one" are used interchangeably herein. It should also be noted that the terms "comprising" and "having" are used interchangeably.

[0027] The foregoing is a simplified overview of this disclosure to provide an understanding of some aspects thereof. This summary is neither a broad nor an exhaustive overview of this disclosure and its various aspects, embodiments, and configurations. It is not intended to identify key or essential elements of this disclosure, nor to depict its scope, but rather to present selected concepts in a simplified form as an introduction to the more detailed description presented below. It should be understood that other aspects, embodiments, and configurations of this disclosure may utilize one or more of the features set forth above or described in detail below, individually or in combination.

[0028] Many additional features and advantages of the invention will become apparent to those skilled in the art upon consideration of the embodiments described below. Attached Figure Description

[0029] The accompanying drawings are incorporated in and form part of this specification to illustrate several examples of this disclosure. These drawings, together with the description, explain the principles of this disclosure. The drawings illustrate only preferred and alternative examples of how to carry out and use this disclosure, and should not be construed as limiting this disclosure to the examples shown and described only. Additional features and advantages will become apparent from the following more detailed description of various aspects, embodiments, and configurations of this disclosure, as illustrated by the figures referenced below.

[0030] Figure 1 It is a block diagram of a system according to at least one embodiment of the present disclosure;

[0031] Figure 2A These are images of an operating table and a robot;

[0032] Figure 2B This is another image of the operating table and the robot;

[0033] Figure 3 This is a flowchart of a method according to at least one embodiment of the present disclosure; and

[0034] Figure 4 This is a flowchart of a method according to at least one embodiment of the present disclosure. Detailed Implementation

[0035] It should be understood that the various aspects disclosed herein can be combined in combinations different from those specifically given in the specification and drawings. It should also be understood that, depending on the example or embodiment, certain actions or events of any of the processes or methods described herein may be performed in different sequences, and / or may be added, combined, or omitted entirely (e.g., depending on different embodiments of this disclosure, performing the disclosed technology may not require all the described actions or events). Furthermore, for clarity, although some aspects of this disclosure are described as being performed by a single module or unit, it should be understood that the technology of this disclosure can be performed by a combination of units or modules associated with, for example, computing devices and / or medical devices.

[0036] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functionality may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include non-transitory computer-readable media, which correspond to tangible media such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer).

[0037] Instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general-purpose microprocessor), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuit systems. Therefore, the term "processor" as used herein can refer to any of the foregoing structures or any other physical structures suitable for implementing the described techniques. Furthermore, this technique can be fully implemented in one or more circuit or logic elements.

[0038] Before explaining any embodiment of this disclosure in detail, it should be understood that this disclosure is not limited in its application to the construction details and component arrangements set forth in the following description or shown in the accompanying drawings. This disclosure can have other embodiments and can be practiced or carried out in various ways. Similarly, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. The use of "including / comprising" or "having" and variations thereof herein is intended to cover items listed thereafter and their equivalents, as well as additional items. Furthermore, this disclosure may use examples to illustrate one or more aspects thereof. Unless otherwise expressly stated, the use or listing of one or more examples (which may be indicated by "for example," "by means of an example," "e.g.," "such as," or similar language) is not intended to, and does not limit, the scope of this disclosure.

[0039] When a surgical robot is used in conjunction with an operating table, the movement of the operating table allows the region of interest during a surgical procedure to remain within the reach of the surgical robot. The movement of the operating table also allows the patient to move without impeding the surgical robot's access to the region of interest. This movement can occur at the start of the procedure or during the procedure.

[0040] During surgical procedures (e.g., spinal surgery), it may be necessary to change the patient's position. In cases of robotic surgery where the operating table and robot can move independently, it may be necessary to adjust the patient's position to keep the patient's region of interest within the robot's working volume. An operating table with at least two positioning degrees of freedom and one rotational degree of freedom allows the surgeon to rotate the patient around any center of rotation (e.g., by rotating the operating table) to keep the region of interest within the robot's working volume.

[0041] Embodiments of this disclosure include, or utilize a control system, determining the rotation center of the operating table to maintain the patient's region of interest ("ROI") within the robot's ROI. The control system enables the operating table and robot to move independently of each other and / or allows the patient to move while maintaining the patient's ROI within the robot's ROI. This disclosure enables the efficient use of a robot detached from and independent of the operating table. Therefore, surgical procedures utilizing a table-independent robot can be simplified by keeping the patient positioned within the robot's working volume without requiring repositioning or moving the robot for a specific patient's ROI. Furthermore, this disclosure enables the efficient use of larger robots that cannot be moved as easily as an operating table.

[0042] As described more fully below, methods and systems for keeping a patient’s region of interest within a robot’s region of interest according to at least some embodiments of the present disclosure may advantageously include determining a center of rotation around which the operating table is rotated or otherwise moved, and causing the control system to control the robot based on the rotation of the operating table around the center of rotation.

[0043] First turn Figure 1 This diagram illustrates a block diagram of a system 100 according to at least one embodiment of the present disclosure. System 100 can be used to perform a rotation center algorithm 120 and / or other aspects of one or more methods disclosed herein. System 100 includes a computing device 102, an operating table 112, a navigation system 114, one or more robots 126, and / or one or more control systems 130. Systems according to other embodiments of the present disclosure may include more or fewer components than system 100. For example, system 100 may not include the navigation system 114.

[0044] The computing device 102 includes a processor 104, a memory 106, a communication interface 108, and a user interface 110. Other embodiments of the computing device according to this disclosure may include more or fewer components than the computing device 102.

[0045] The processor 104 of computing device 102 may be any processor described herein or any similar processor. Processor 104 may be configured to execute instructions stored in memory 106 that cause processor 104 to perform one or more computational steps using or based on information received from operating table 112, control system 130, robot 126, and / or navigation system 114. The instructions may also cause processor 104 to execute and / or generate one or more commands or signals that cause one or more other components of system 100 to perform one or more steps of any of the methods described herein.

[0046] Memory 106 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory used to store computer-readable data and / or instructions. Memory 106 may store information or data used to perform any steps of, for example, the methods 300 or 400 described herein. Memory 106 may store, for example, one or more rotation center algorithms 120, one or more control system instructions 124, and / or one or more surgical plans 122. In some embodiments, algorithm 120 and / or control system instructions 124 may be organized into one or more applications, modules, packages, layers, or engines. Algorithms may cause processor 104 to manipulate data stored in memory 106, reflected in surgical plans 122, and / or received from operating table 112, robot 126, control system 130, and / or navigation system 114.

[0047] The computing device 102 may also include a communication interface 108. The communication interface 108 may be used to receive information from external sources such as the operating table 112 (e.g., from one or more sensors or other intelligent elements on the operating table 112), navigation system 114, control system 130, and / or robot 126), and / or to send instructions, images, and / or other information to external systems or devices (e.g., another computing device 102, navigation system 114, operating table 112, control system 130, and / or robot 126). The communication interface 108 may include one or more wired interfaces (e.g., USB ports, Ethernet ports, FireWire ports) and / or one or more wireless interfaces (e.g., configured to transmit information via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.). In some embodiments, the communication interface 108 may be used to enable the device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time required to complete computationally intensive tasks or for any other reason.

[0048] The computing device 102 may also include one or more user interfaces 110. The user interface 110 may be or include a keyboard, mouse, trackball, display, television, touchscreen, headset, and / or any other device for receiving information from and / or providing information to the user. In some embodiments, the user interface 110 may receive information and / or commands from the user via voice activation. In other embodiments, the user interface 110 may incorporate augmented reality or virtual reality. User interface 110 may be used for, for example: receiving user selections or other user input regarding determining a first rotation center; receiving user selections or other user input regarding determining a second rotation center; receiving user selections or other user input regarding rotating the operating table 112 around the first rotation center from a first position to a second position; receiving user selections or other user input regarding controlling the control system 130 to control the robot 126 based on the operating table 112 being in the second position; receiving user selections or other user input regarding moving the operating table 112 to a third position to position the second rotation center within the robot's region of interest; receiving user selections or other user input regarding controlling the control system 130 to control the robot 126 based on the operating table 112 being in the third position; and / or displaying image data and / or surgical plan 122. In some embodiments, user interface 110 may be used to allow surgeons or other users to modify plan 122 or other displayed information, but it should be understood that each of the foregoing inputs may be automatically generated by system 100 (e.g., by processor 104 or another component of system 100) or received by system 100 from a source external to system 100. In some implementations, user inputs such as those described above may be optional or unnecessary for the operation of the systems, apparatus and methods described herein.

[0049] Although the user interface 110 is shown as part of the computing device 102, in some embodiments, the computing device 102 may utilize a user interface 110 housed separately from one or more other components of the computing device 102. In some embodiments, the user interface 110 may be located close to one or more other components of the computing device 102, while in other embodiments, the user interface 110 may be located away from one or more other components of the computing device 102.

[0050] The operating table 112, or surgical table, is operable to manipulate the patient while maintaining specific anatomical structures of the patient within the region of interest of the robot 126. In some embodiments, the operating table 112 has two positioning degrees of freedom and one rotational degree of freedom, which allows specific anatomical structures of the patient to be positioned anywhere in space (within a volume defined by the movement limits of the operating table 112). For example, the operating table 112 can slide forward and backward and laterally, and can tilt (e.g., about an axis positioned between the head and feet of the operating table 112 and extending from one side of the operating table 112 to the other) and / or roll (e.g., about an axis positioned between the two sides of the operating table 112 and extending from the head of the operating table 112 to its feet). In other embodiments, the operating table 112 can bend at one or more regions (this bending is possible, for example, by using a flexible surface of the operating table 112, or by physically separating one part of the operating table 112 from another part and moving both parts independently). The operating table 112 can be manually moved or manipulated, for example, by a surgeon or other user, or the table 112 may include one or more motors, actuators, and / or other mechanisms configured to enable movement and / or manipulation of the operating table via the control system 130. In some embodiments, the robot 126 may be independent of and not attached to the operating table 112. In other words, the robot 126 can be manipulated and moved separately from the operating table 112. In such embodiments, the robot 126 may be attached to one or more of the operating room floor, walls, and / or ceiling, or to any structure attached to either of the foregoing. In other embodiments, the robot 126 may be attached to the operating table 112.

[0051] During operation, navigation system 114 can provide navigation for the surgeon and / or surgical robot. Navigation system 114 can be any navigation system currently known or developed in the future, including, for example, Medtronic StealthStation. TMS8 Surgical Navigation System. Navigation system 114 may include a camera or one or more other sensors for tracking one or more reference markers, navigation trackers, or other objects within the operating room or other room where surgery is performed. In various embodiments, navigation system 114 may be used to track the position of the patient (or more specifically, the position of navigation reference markers directly or indirectly attached to the patient), the position of the operating table 112 (or more specifically, the position of navigation reference markers directly or indirectly attached to the operating table 112), and / or the position of the robot 126 (or more specifically, the position of navigation reference markers directly or indirectly attached to the robot 126). Navigation system 114 may include a display for displaying one or more images from an external source (e.g., computing device 102 or other sources), or a video stream from the camera or other sensors of navigation system 114.

[0052] In some embodiments, the navigation system 114 can be used to track the movement of the robot 126, operating table 112, and / or patient, and can provide feedback or confirmation regarding the position of the robot 126, operating table 112, and / or patient. For example, the navigation system 114 can indicate via a display, audibly and / or visually, that the robot 126 and / or operating table 112 need to be automatically or manually moved to a suggested robot or operating table position based on a center of rotation, the patient's region of interest, and / or the robot's region of interest. The navigation system 114 can monitor or track the robot 126 or operating table 112 as it moves toward the suggested robot or operating table position or to any other position. The navigation system 114 can further instruct or alert the user when the robot 126 or operating table 112 has reached the suggested robot position or any other predetermined position. In other embodiments, the user can view the display of the navigation system 114 while moving the robot 126 or operating table 112 to the suggested robot or operating table position to ensure that the user has moved the robot 126 or operating table 112 to the correct position. In some implementations, system 100 can operate without using navigation system 114.

[0053] Reference markers (e.g., navigation markers) may be placed on robot 126, robot arm 128 of robot 126, operating table 112, patient, and / or any other object in the surgical space. The reference markers may be tracked by navigation system 114, and the results of the tracking may be used by the operator of robot 126 and / or system 100 or any component thereof. As described above, in some embodiments, navigation system 114 may be used to track other components of system 100 (e.g., operating table 112).

[0054] Robot 126 can be any surgical robot or surgical robot system. Robot 126 can be, or includes, for example, Mazor X. TM A stealth robot guidance system. Robot 126 may include a robotic arm 128. In some embodiments, robotic arm 128 may include multiple robotic arms, but robot 126 may include one, two, or more robotic arms. Robotic arm 128 may be used to selectively hold and / or manipulate one or more surgical instruments, imaging devices, one or more reference markers, and / or any other tools or instruments.

[0055] In the illustrated embodiment, system 100 includes control system 130, but in some embodiments, system 100 may not include control system 130. In other embodiments, control system 130 may be integrated into computing device 102, robot 126, and / or operating table 112. Control system 130 may include a controller, which may be an electronic controller, mechanical controller, or electromechanical controller. Control system 130 may include or may be any processor described herein. Control system 130 may include a memory storing instructions for performing any function or method described herein performed by control system 130. In some embodiments, control system 130 may be configured to simply translate signals received from computing device 102 (e.g., via communication interface 108) into commands for operating operating table 112, navigation system 114, and / or robot 126. In other embodiments, control system 130 may be configured to process and / or translate signals received from operating table 112, navigation system 114, and / or robot 126. Furthermore, the control system 130 can receive signals from one or more sources (e.g., operating table 112, navigation system 114, and / or robot 126) and can output signals to one or more sources. In some embodiments, the functions of the control system as described herein can be performed by computing device 102, and system 100 may not include a separate control system 130.

[0056] Turning Figure 2A and Figure 2B The image shows at least a portion of a surgical operating room 200, comprising: two robots 202 (each robot may be identical or similar to robot 126 described above), each robot having a robotic arm 203 (the robotic arm may be identical or similar to robotic arm 128); an operating table 204 (the operating table may be identical or similar to operating table 112 described above); and a patient 206 lying prone on the operating table 204. The operating table 204 is accessible from, as... Figure 2A The first position shown is moved to the position shown in the figure. Figure 2B The second position is shown. In the example illustrated, the operating table 204 is from... Figure 2AThe first position shown is to Figure 2B The movement in the second position shown is a tilting movement, but the operating table 204 can move in any direction or orientation. The operating table 204 can be moved as needed during the procedure and / or can be moved and / or prepared for one or more steps based on the surgical plan or preoperative plan 122. As previously mentioned, the operating table 204 can be moved manually by the surgeon or operator, or can be moved automatically by the control system 130 and one or more motors, actuators and / or other mechanisms.

[0057] The operating table 204 selectively moves around a center of rotation (COR) 208, depicted as a first dashed sphere, which can be determined, for example, based on first and second information. The first information may correspond to information about a robot region of interest (ROI) 210 depicted as a second dashed sphere, and the second information may correspond to information about a patient region of interest (ROI) 212 depicted as a third dashed sphere. It should be understood that the COR, patient ROI, and / or robot ROI can be of any shape or size. Furthermore, the first, second, and third dashed spheres are illustrative and not visible in practice, but it will also be appreciated that such a COR, patient ROI, and / or robot ROI can be displayed in an augmented or virtual reality headset or other display (e.g., a monitor).

[0058] Robot ROI 210 is related to the size range of robot arm 203. In some embodiments, robot ROI 210 may be or include multiple robot ROIs, and each robot ROI may correspond to one of the multiple robot arms. In other words, in embodiments using multiple robot arms during proceduralization, each robot arm will have its own robot ROI. The robot ROIs of each of the multiple robots may overlap wholly or partially. In such embodiments with multiple robot ROIs, a combined robot ROI (e.g., the ROI that each of the multiple robots can reach for its overall ROI) can be calculated or determined, and the combined robot ROI can be used to determine COR 208.

[0059] The patient ROI 212 is associated with the area of ​​the surgical site and / or the area surrounding the surgical site that the robot 202 (or surgeon) can contact, approach, or otherwise move within. The patient ROI 212 may be positioned above the surface of the operating table 204. The volume of the patient ROI 212 may be greater than, less than, or equal to the volume of the robot ROI 210. Similarly, the patient ROI 212 may have the same shape as or a different shape than the robot ROI 210. In embodiments where the patient ROI 212 is smaller than the robot ROI 210, rotation of the operating table 112 about the COR 208 ensures that the patient ROI 212 remains within the robot ROI 210. In embodiments where the patient ROI 212 is larger than the robot ROI 210, the operating table may be selectively moved to move any location within the patient ROI 212 into the robot ROI 210.

[0060] In some implementations, more than one COR 208 may be calculated. For example, in an implementation where the patient ROI 212 is larger than the robot ROI 210 and the robotic arm 203 cannot reach all areas of the patient ROI 212, first and second CORs 208 may be determined. In other examples, the first COR 208 may correspond to a first surgical procedure in a first area of ​​the patient 206, and the second COR 208 may correspond to a second surgical procedure in a second area of ​​the patient 206. In such an implementation, the operating table 204 may be selectively moved from a first position to a second position around the first COR 208. The operating table 204 may then be moved to position the second COR 208 within the robot ROI 210. Alternatively, the robot 202 may be moved to position the robot ROI 210 such that the second COR 208 is within the robot ROI 210. When the robot ROI 210 and the second COR 208 are aligned or otherwise positioned, the operating table 204 can rotate around the second COR 208 to hold the patient ROI 212 within the robot ROI 210.

[0061] Now go to Figure 3 The method 300 for determining and maintaining the center of rotation may be performed wholly or partially on a computing device (such as computing device 102 or a similar device) and may utilize one or more other components or similar components of system 100. One or more aspects of method 300 may be performed by or by a surgical robot, a surgeon, or a combination of both.

[0062] Method 300 includes determining a rotation center, such as a rotation center (COR) 208, based on first information and second information (step 302). A rotation center algorithm (such as rotation center algorithm 120) can be used to determine the COR, and the algorithm can receive the first information and the second information as input.

[0063] The first information may correspond to a region of interest (ROI) of the robot, such as robot ROI 210 of the robot (e.g., robot 126 or 202). The second information may correspond to a patient ROI, such as patient ROI 212. The first and / or second information may be received via a user interface (e.g., user interface 110) and / or via a communication interface (e.g., communication interface 108 of a computing device (e.g., computing device 102)) and may be stored in a memory (e.g., memory 106). The first and / or second information may also be generated by any other component of the system and / or uploaded to any other component of the system. In some embodiments, the first information may be received directly from the robot. The first information may include the size range of the robot arm (e.g., robot arm 128 or 203), the size of the robot and / or robot arm, the degrees of freedom of the robot arm, and / or whether the robot is independent of the operating table (e.g., operating table 112 or 204).

[0064] In various embodiments, the second information (related to the patient's ROI) corresponds to at least one of input from a surgeon, sensor data from at least one sensor, or input from a navigation system (such as navigation system 114). In other embodiments, the second information may include a surgical plan or preoperative plan (such as surgical plan 122) or extracted from or otherwise obtained from such surgical plan or preoperative plan. In a further embodiment, a marker may be placed within the desired patient ROI and tracked by a navigation system (such as navigation system 114). In other embodiments, the marker may be placed on the desired patient ROI and imaged by an imaging device (such as an X-ray-based imaging device or an ultrasound device). In any case, the marker may be, for example, temporarily or permanently attached to an anatomical element within the patient ROI. In such embodiments, the marker may be used to define (or at least help define) the patient ROI, which can then be used as at least one input for determining the COR.

[0065] Method 300 also includes rotating the operating table (such as operating table 112 or 204) about the COR from a first position to a second position (step 304). The operating table can move independently of the robot. In some embodiments, the registration between the robot coordinate space and the patient coordinate space can be updated based on the rotation or other movement of the operating table from the first position to the second position.

[0066] The operating table may also have multiple degrees of freedom and be able to rotate or move in any direction. In some embodiments, the operating table has two positioning degrees of freedom (to allow the operating table to move forward, backward, and laterally) and one rotational degree of freedom (to allow the operating table to tilt and roll). In other embodiments, the operating table may bend in one or more locations in any of the ways described herein or in any other way that allows the operating table to continue to support the patient. The operating table may be moved or manipulated manually by, for example, a surgeon or other user, or the operating table may be moved or manipulated by a control system (such as control system 130).

[0067] Method 300 also includes causing a control system (e.g., such as control system 130) to control the robot based on the operating table being in a second position (step 306). The control system may receive control system instructions (such as control system instructions 124) from a computing device (such as computing device 102). The control system instructions may cause the control system to control the robot. The control system instructions may be received via a user interface and / or via a communication interface of the computing device, and may be stored in memory. The control system instructions may also be generated by any other component of system 100 and / or uploaded to any other component of the system. In some embodiments, the control system instructions may be based on a surgical plan, such as surgical plan 122. For example, each movement of the robot may be associated with a surgical step in the surgical plan.

[0068] In some implementations, step 306 may include using a computing device (e.g., computing device 102) to cause the robot to move based on, for example, the surgical plan, the position of the operating table, and / or the existing registration of the robot's coordinate system with the patient's coordinate system and / or the coordinate system of the navigation system.

[0069] In some embodiments, method 300 may include receiving a surgical plan, which may be the same as or similar to surgical plan 122. The surgical plan may be received via a user interface (e.g., user interface 110) and / or communication interface (e.g., communication interface 108) of a computing device (such as computing device 102) and may be stored in a memory (such as memory 106 of the computing device). The surgical plan may include information about one or more planned movements of tools held by the robotic arm during the surgical procedure. The surgical plan may be used to generate control system instructions, or may include control system instructions. In some embodiments, the surgical plan includes planned trajectories of one or more medical devices (e.g., medical instruments, medical screws, medical plates, etc.). This information may also include a timeline or schedule of one or more planned movements. One or more planned movements may include one or more of the following: timestamps, movement type (e.g., translational and / or rotational movement), movement duration, and / or location information (e.g., start, intermediate, and / or end coordinates and / or orientation).

[0070] In some embodiments, method 300 may include determining information regarding one or more required movements of an instrument during a surgical procedure outlined or otherwise described in the surgical plan. In such embodiments, the surgical plan may not include any such information regarding the required movements of the instrument, but a processor executing instructions stored in memory (whether it is a processor of a computing device such as computing device 102, or a processor of a control system such as control system 130, or other processors) may generate such information based on the surgical plan.

[0071] Step 304, which involves rotating the operating table around the COR from a first position to a second position, can be further based on the surgical plan. For example, in some embodiments, method 300, and more specifically step 304, may include rotating the operating table around the COR from a first position to a second position, where the second position corresponds to a planned step. In such embodiments, the plan may include information about the required movement of the operating table (and / or the patient) from the first position to the second position, or a determination to move the operating table (and therefore the patient) from the first position to the second position may be made based on the surgical plan.

[0072] Although described herein in conjunction with a robot not connected to an operating table, method 300 can be used in conjunction with any type of robot, including robots connected to an operating table, robots supported on a selectively movable trolley, robots entirely supported by the patient's body, and robots selectively connected to structures other than an operating table. However, this disclosure can be particularly useful when the operating table and / or the patient can be moved independently of the robot.

[0073] Now go to Figure 4 The method 400 for determining and maintaining multiple centers of rotation may be performed wholly or partially on a computing device (such as computing device 102 or a similar device) and may utilize one or more other components or similar components of system 100. One or more aspects of method 400 may be performed by or by a surgical robot, a surgeon, or a combination of both.

[0074] Method 400 includes determining a first COR among a plurality of CORs based on first and second information (step 402), and determining a second COR among the plurality of CORs based on first and third information (step 404). The first and second CORs may each be determined using a rotation center algorithm (such as rotation center algorithm 120). This algorithm may receive first, second, and / or third information as input. In some embodiments, the first COR may correspond to a first surgical procedure in a first patient ROI, and the second COR may correspond to a second surgical procedure in a second patient ROI. For example, if a patient is undergoing multi-segment spinal surgery, the first patient ROI may correspond to a first vertebral segment where the surgery will take place, and the second patient ROI may correspond to a second vertebral segment where the surgery will take place. The first and second patient ROIs may be completely separate and spaced apart from each other, completely separate but sharing a common boundary, or may overlap. However, in at least some embodiments, the first and second patient ROIs are not of equal extent. In other implementations, the first and second patient ROIs (or other ROIs) can be combined into a combined ROI, and one or more CORs can be determined for the combined ROI.

[0075] The first information may correspond to a robot ROI, such as robot ROI 210 of a robot (e.g., robot 126 or 202); the second information may correspond to a first patient ROI 212; and the third information may correspond to a second patient ROI. The first, second, and / or third information may be received via a user interface (e.g., user interface 110) and / or via a communication interface (e.g., communication interface 108 of a computing device (e.g., computing device 102)). The first, second, and / or third information may be stored in a memory (e.g., memory 106). The first, second, and / or third information may also be generated by any other component of the system and / or uploaded to any other component of the system. In some embodiments, the first information may be received directly from the robot. The first information may include the size range of the robot's robotic arm (which may be, for example, the same as or similar to robotic arm 128 or 203), the size of the robot and / or the robotic arm, the robot's degrees of freedom, and / or whether the robot is independent of the operating table (e.g., operating table 112 or 204).

[0076] In various embodiments, each of the second and third pieces of information (related to the patient's first and second ROIs, respectively) corresponds to at least one of the following: input from a surgeon, sensor data from at least one sensor, or input from a navigation system (such as navigation system 114). In other embodiments, the second and / or third information may be extracted from or otherwise obtained from a surgical plan or preoperative plan (such as surgical plan 122), or may include such surgical plan or preoperative plan. In a further embodiment, a marker may be placed within the desired patient ROI and tracked by a navigation system (such as navigation system 114). In other embodiments, the marker may be placed on the desired patient ROI and imaged by an imaging device (such as an X-ray-based imaging device or an ultrasound device). In any case, the marker may be, for example, temporarily or permanently attached to an anatomical element within the patient ROI. In such embodiments, the marker may be used to define (or at least help define) the patient ROI, which can then be used as at least one input for determining the COR.

[0077] Method 400 also includes rotating the operating table (such as operating table 112 or 204) about a first COR from a first position to a second position (step 406). The operating table can move independently of the robot. In some embodiments, the registration between the robot coordinate space and the patient coordinate space (and / or between the navigation coordinate space and the patient coordinate space) can be updated based on the rotation of the operating table from the first position to the second position.

[0078] The operating table may also have multiple degrees of freedom, allowing it to rotate or move in any direction. In some embodiments, the operating table has two positioning degrees of freedom (to allow the operating table to move forward, backward, and laterally) and one rotational degree of freedom (to allow the operating table to tilt and / or roll). In other embodiments, the operating table may bend at one or more locations (e.g., in any of the ways described herein). The operating table may be moved or manipulated manually by, for example, a surgeon or other user, or it may be moved or manipulated by a control system (such as control system 130).

[0079] Method 400 also includes causing a control system (e.g., such as control system 130) to control the robot based on the operating table being in a second position (step 408). The control system may receive control system instructions (such as control system instructions 124) from a computing device (such as computing device 102). The control system instructions may cause the control system to control the robot. The control system instructions may be received via a user interface and / or via a communication interface of the computing device, and may be stored in memory. The control system instructions may also be generated by any other component of system 100 and / or uploaded to any other component of the system. In some embodiments, the control system instructions may be based on a surgical plan, such as surgical plan 122.

[0080] In some implementations, step 408 may include using a computing device (e.g., computing device 102) to move the robot based on, for example, the surgical plan, the position of the operating table, and / or the existing registration of the robot's coordinate system with the patient's coordinate system and / or the coordinate system of the navigation system.

[0081] Method 400 also includes moving the operating table to a third position to position the second COR within the robot ROI (step 410). Step 410 can be performed in a manner substantially similar to step 406. In some embodiments, the registration between the robot coordinate space and the patient coordinate space can be updated based on the movement of the operating table from the second position to the third position.

[0082] Method 400 also includes controlling the robot by positioning the control system in a third position relative to the operating table (step 412). Step 412 can be performed in a manner substantially similar to step 408. The control system can receive control system instructions (such as control system instructions 124) from a computing device (such as computing device 102). The control system instructions can be the same as those in step 408, or they can be new or updated control system instructions. The control system instructions can be received via a user interface and / or via a communication interface of the computing device, and can be stored in memory. The control system instructions can also be generated by any other component of the system and / or uploaded to any other component of the system. In some embodiments, the control system instructions are based on a surgical plan. For example, each movement of the robot can be associated with a surgical step in the surgical plan.

[0083] In some implementations, step 412 may include using a computing device (e.g., computing device 102) to move the robot based on, for example, the surgical plan, the position of the operating table, and / or the existing registration of the robot's coordinate system with the patient's coordinate system and / or the coordinate system of the navigation system.

[0084] In some embodiments, method 400 may include receiving a surgical plan, which may be the same as or similar to surgical plan 122. The surgical plan may be received via a user interface (e.g., user interface 110) and / or communication interface (e.g., communication interface 108) of a computing device (such as computing device 102) and may be stored in memory (such as memory 106 of the computing device). The surgical plan may include information about one or more planned movements of tools held by the robotic arm during the surgical procedure. The surgical plan may be used to generate control system instructions, or may include control system instructions. In some embodiments, the surgical plan includes planned trajectories of one or more medical devices (e.g., medical instruments, medical screws, medical plates, etc.). This information may also include a timeline or schedule of one or more planned movements. One or more planned movements may include one or more of the following: timestamps, movement type (e.g., translational and / or rotational movement), movement duration, and / or location information (e.g., start, intermediate, and / or end coordinates and / or orientation).

[0085] In some embodiments, method 400 may include determining information regarding one or more required movements of an instrument during a surgical procedure outlined or otherwise described in the surgical plan. In such embodiments, the surgical plan may not include any such information regarding the required movements of the instrument, but a processor executing instructions stored in memory (whether it is a processor of a computing device such as computing device 102, or a processor of a control system such as control system 130, or other processors) may generate such information based on the surgical plan.

[0086] Steps 406 and 410, which involve rotating the operating table around the first Coordination Oscillator (COR) from a first position to a second position and moving the operating table to a third position to position the second COR within the robotic Region of Interest (ROI), can each be further based on the surgical plan. For example, in some embodiments, method 400, and more specifically steps 406 and 410, may include rotating the operating table around the first COR from a first position to a second position and moving the operating table to a third position to position the second COR within the robotic ROI, wherein the second and third positions each correspond to planned steps. In such embodiments, the plan may include information about the required movement of the operating table (and / or patient) from the first position to the second position or from the second position to the third position, or may be based on the surgical plan to determine whether to move the operating table (and therefore the patient) from the first position to the second position or from the second position to the third position.

[0087] Although described herein in conjunction with a robot not connected to an operating table, method 400 can be used in conjunction with any type of robot, including robots connected to an operating table, robots supported on selectively movable trolleys, robots entirely supported by the patient's body, and robots selectively connected to structures other than an operating table. However, this disclosure can be particularly useful when the operating table and / or the patient can be moved independently of the robot.

[0088] The methods and systems described herein provide a control system and method for determining the rotation center of an operating table to align and maintain the patient's region of interest within the robot's region of interest. The methods and systems described herein enable the efficient use of an unattached, table-independent robot, thereby beneficially simplifying procedures by keeping the patient positioned within the robot's working volume without requiring repositioning or movement of the robot.

[0089] As can be understood based on the foregoing disclosure, this disclosure covers those with... Figure 3 and Figure 4 Methods with fewer steps than those identified in (and the corresponding descriptions of methods 300 and 400), and methods including those with fewer steps than Figure 3 and Figure 4 (And the corresponding descriptions of methods 300 and 400) are methods with more steps than those identified herein. One or more steps of the methods described herein may be performed in an order other than the order in which they are described herein.

[0090] As may also be understood based on the foregoing disclosure, embodiments of this disclosure may include one or more aspects of PCT patent application PCT / IB2019 / 058795 entitled "Versatile Multi-Arm Robotic Surgical System", filed on October 15, 2020, the entire contents of which are incorporated herein by reference.

[0091] The foregoing discussion has been presented for purposes of illustration and description. The foregoing is not intended to limit this disclosure to the one or more forms disclosed herein. In the foregoing specific embodiments, for the purpose of simplifying this disclosure, various features of this disclosure are grouped together in one or more aspects, embodiments, and / or configurations. Features of aspects, embodiments, and / or configurations of this disclosure may be combined in alternative aspects, embodiments, and / or configurations other than those discussed above. The approach of this disclosure should not be construed as reflecting an intention that the claims require more features than expressly recited in each claim. Rather, as reflected in the following claims, aspects of the invention lie in fewer than all the features of a single foregoing aspect, embodiment, and / or configuration. Therefore, the following claims are hereby incorporated into this specific embodiment, wherein each claim exists independently as a separate preferred embodiment of this disclosure.

[0092] Furthermore, although the description has included descriptions of one or more aspects, embodiments, and / or configurations, as well as certain variations and modifications, other variations, combinations, and modifications are also within the scope of this disclosure upon understanding it, for example, as may be within the skill and knowledge of one skilled in the art. It is intended to obtain the right to include alternative aspects, embodiments, and / or configurations to the permissible extent, including claimed alternatives, replacements, and / or equivalent structures, functions, scopes, or steps, regardless of whether such alternatives, replacements, and / or equivalent structures, functions, scopes, or steps are disclosed herein, and it is not intended for use with any patentable subject matter.

Claims

1. An operating table control system, the operating table control system comprising: The memory stores instructions; and A processor configured to execute the instructions that cause the processor to: The rotation center is determined based on first information about the robot's region of interest and second information about the patient's region of interest. The operating table, which has multiple degrees of freedom, is rotated around the center of rotation from a first position to a second position. The robot is controlled based on the operating table being in the second position.

2. The system of claim 1, wherein the second information includes a preoperative plan.

3. The system of claim 2, wherein the second position corresponds to a step in the preoperative planning.

4. The system of claim 1, wherein the operating table is movable independently of the robot.

5. The system of claim 1, wherein the instructions further cause the processor to automatically update the registration between the robot coordinate space and the patient coordinate space based on the rotation of the operating table from the first position to the second position.

6. The system of claim 1, wherein the volume of the patient region of interest is larger than the volume of the robot region of interest, and the operating table is selectively movable to move any location in the patient region of interest into the robot region of interest.

7. The system of claim 6, wherein the rotation center is a first rotation center, and wherein the instruction further causes the processor to determine a second rotation center based on the robot region of interest and the patient region of interest.

8. The system according to claim 1, wherein the robot region of interest includes a plurality of robot regions of interest, each robot region of interest corresponding to one of the plurality of robots.

9. The system of claim 8, wherein the instructions further cause the processor to determine a combined region of robot interest based on the plurality of regions of robot interest.

10. The system of claim 9, wherein the rotation center is further determined based on the robot's region of interest of the combination.

11. The system of claim 1, wherein the second information corresponds to at least one of input from a surgeon, sensor data from at least one sensor, or input from a navigation system.

12. The system of claim 1, wherein the patient’s region of interest is located above the surface of the operating table.

13. The system of claim 1, wherein the patient region of interest is smaller than the robot region of interest, and the rotation of the operating table about the center of rotation ensures that the patient region of interest remains within the robot region of interest.

14. A method for determining and maintaining a center of rotation, the method comprising: The rotation center is determined based on first information about the robot's region of interest and second information about the patient's region of interest; The operating table, which has multiple degrees of freedom, is rotated from a first position to a second position around the rotation center; as well as The control system controls the robot based on the operating table being in the second position.

15. The method of claim 14, wherein the second information includes a preoperative plan.

16. The method of claim 15, wherein the second position corresponds to a step in the preoperative planning.

17. The method of claim 14, wherein the operating table is movable independently of the robot.

18. The method of claim 14, wherein the second information corresponds to at least one of input from a surgeon, sensor data from at least one sensor, or input from a navigation system.

19. A method for determining and maintaining a plurality of centers of rotation, the method comprising: The first center of rotation is determined based on first information about the robot's region of interest and second information about the first patient's region of interest; The second rotation center is determined based on the first information and the third information regarding the region of interest of the second patient. The operating table, which has multiple degrees of freedom, is rotated from a first position to a second position around the first rotation center; The control system controls the robot based on the operating table being in the second position. The operating table is moved to a third position to position the second rotation center within the region of interest of the robot. as well as The control system controls the robot based on the operating table being in the third position.

20. The method of claim 19, wherein the first rotation center corresponds to a first surgical procedure in the first patient region of interest, and the second rotation center corresponds to a second surgical procedure in the second patient region of interest.

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