Robotic surgical system with floating patient bedstead

Abstract

A system includes a robot mounted to a movable base, the robot including one or more robot arms. The system monitors one or more parameters associated with the subject through one or more measurement devices. The system adjusts the pose of the robot based on the one or more parameters satisfying one or more criteria. The system outputs an alert based on the one or more parameters satisfying one or more second criteria. The system performs a registration process associated with the object and the robot based on the one or more parameters satisfying one or more second criteria. The one or more measurement devices include a mechanical measurement device that maintains a non-rigid connection between the robot and the object. The one or more measuring devices include an optical measuring device, an acoustic transducer, or a multi-sensor device.

Description

Technical Field

[0001] The present disclosure relates generally to surgical systems and, more particularly, to robotic surgical devices. Background Art

[0002] A surgical robot can assist a surgeon or other medical provider in performing surgical procedures, or can autonomously complete one or more surgical procedures. Articulated members that provide a controllable connection allow the surgical robot to reach areas of a patient's anatomy during various medical procedures. Summary of the invention

[0003] Example aspects of the present disclosure include:

[0004] A system comprising: a robot mounted to a movable base and including one or more robot arms; one or more measurement devices; a processor; a memory in electronic communication with the processor; instructions stored in the memory and executable by the processor to: monitor one or more parameters associated with an object by the one or more measurement devices; and adjust a posture of the robot based on the one or more parameters satisfying one or more criteria.

[0005] In any of the aspects herein, adjusting the pose of the robot comprises at least one of: adjusting the position of the robot or the position of one or more robot arms; and adjusting the orientation of the robot or the orientation of one or more robot arms, or both.

[0006] In any of the aspects herein, the instructions are further executable by the processor to perform at least one of: output an alert based on one or more parameters satisfying one or more second criteria; and perform an alignment process associated with the object and the robot based on one or more parameters satisfying the one or more second criteria.

[0007] In any of the aspects herein, the one or more parameters include at least one of movement information, position information, and orientation information associated with the object.

[0008] In any of the aspects herein, wherein: the one or more parameters include position information associated with the object; and the one or more criteria include a displacement threshold relative to a reference position information associated with the object.

[0009] In any of the aspects herein, wherein the one or more measurement devices include a mechanical measurement device coupled to the robot and the object.

[0010] In any of the aspects herein, wherein the mechanical measurement device maintains a non-rigid connection between the robot and the object.

[0011] In any of the aspects herein, wherein: the mechanical measurement device includes one or more coupling elements configured to separate based on at least one of: a first force value measured at the object, a second force value measured at a portion of the mechanical measurement device, or both; and a displacement value of the object exceeding a threshold displacement value, wherein the displacement value is measured by the mechanical measurement device.

[0012] In any of the aspects herein, wherein the one or more measurement devices include one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to a robot, one or more robot arms, or both.

[0013] In any of the aspects herein, wherein the one or more measurement devices include at least one of: a first acoustic transducer coupled to the robot or one or more robotic arms; and a second acoustic transducer coupled to the object.

[0014] In any of the aspects herein, wherein the one or more measurement devices include a multi-sensor device coupled to the object.

[0015] In any of the aspects herein, wherein the multi-sensor device is a monolithically integrated multi-sensor (MIMS) device, the monolithically integrated multi-sensor (MIMS) device comprising at least one of: a gyroscope; and an accelerometer.

[0016] In any of the aspects herein, wherein the object comprises an anatomical element.

[0017] An apparatus comprising: a robot comprising one or more robot arms; a movable base coupled to the robot; one or more measuring devices; a processor; a memory in electronic communication with the processor; instructions stored in the memory and executable by the processor to: monitor one or more parameters associated with an object by the one or more measuring devices; and adjust the posture of the robot based on the one or more parameters satisfying one or more criteria.

[0018] In any of the aspects herein, wherein the one or more measurement devices include a mechanical measurement device coupled to the robot and the object.

[0019] In any of the aspects herein, wherein the mechanical measurement device maintains a non-rigid connection between the robot and the object.

[0020] In any of the aspects herein, the mechanical measurement device includes one or more coupling elements configured to separate based on at least one of: a first force value measured at the object, a second force value measured at a portion of the mechanical measurement device, or both; and a displacement value of the object exceeding a threshold displacement value, wherein the displacement value is measured by the mechanical measurement device.

[0021] In any of the aspects herein, the one or more measurement devices include at least one of: one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to a robot, one or more robot arms, or both; one or more acoustic transducers, wherein the one or more acoustic transducers are coupled to the robot, the one or more robot arms, the object, or a combination thereof; and a multi-sensor device, which is coupled to the object.

[0022] A method comprising: monitoring one or more parameters associated with an object by one or more measurement devices of a robot; and adjusting a pose of the robot based on the one or more parameters satisfying one or more criteria, wherein the robot is mounted to a movable base.

[0023] Any of the aspects herein further includes: outputting an alert based on the one or more parameters satisfying one or more second criteria; and performing an alignment process associated with the object and the robot based on the one or more parameters satisfying the one or more second criteria.

[0024] Any aspect may be combined with any one or more other aspects.

[0025] Any one or more of the features disclosed herein.

[0026] Any one or more of the features is generally disclosed herein.

[0027] Any one or more of the features generally disclosed herein may be combined with any one or more of the other features generally disclosed herein.

[0028] Any aspect / feature / implementation may be combined with any one or more other aspects / features / implementations.

[0029] Use any one or more of the aspects or features disclosed herein.

[0030] It should be understood that any feature described herein may be claimed in combination with any other feature described herein, regardless of whether the features are from the same described implementation.

[0031] The details of one or more aspects of the present disclosure are set forth in the following drawings and description. Other features, objectives, and advantages of the techniques described in the present disclosure will be apparent from the description and drawings, and from the claims.

[0032] The foregoing is a simplified overview of the present disclosure to provide an understanding of some aspects of the present disclosure. The present disclosure is neither a broad overview nor an exhaustive overview of the present disclosure and its various aspects, specific implementations, and configurations. It is neither intended to determine the key or important elements of the present disclosure nor to delimit the scope of the present disclosure, but rather to present the selected concepts of the present disclosure in a simplified form as an introduction to the more detailed description presented below. As should be understood, other aspects, specific implementations, and configurations of the present disclosure may utilize one or more of the features set forth above or described in detail below, either individually or in combination.

[0033] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art after considering the detailed description of implementations provided below. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are incorporated into and form a part of this specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the present disclosure. The accompanying drawings illustrate only preferred and alternative examples of how to implement and use the present disclosure, and these examples should not be interpreted as limiting the present disclosure to only the illustrated and described examples. Additional features and advantages will become apparent from the following more detailed description of various aspects, specific implementations and configurations of the present disclosure, as illustrated by the accompanying drawings referenced below.

[0035] Figure 1 is a block diagram of a system according to at least one specific implementation of the present disclosure.

[0036] FIG. 2A to FIG. 2D An example of a system according to at least one specific implementation of the present disclosure is illustrated.

[0037] Figure 3 is an example of a process flow according to at least one specific implementation of the present disclosure. DETAILED DESCRIPTION

[0038] It should be understood that the various aspects disclosed herein may be combined in combinations different from those specifically presented in the specification and drawings. It should also be understood that, depending on the example or specific implementation, certain actions or events of any process or method described herein may be performed in a different order, and / or may be added, combined, or omitted entirely (e.g., not all described actions or events may be required to practice the disclosed technology, depending on different specific implementations of the present disclosure). In addition, although for clarity, certain aspects of the present disclosure are described as being performed by a single module or unit, it should be understood that the technology of the present disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0039] 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 functions may be stored as one or more instructions or codes on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, the functions may be implemented using a machine learning model, a neural network, an artificial neural network, or a combination thereof (alone or in combination with instructions). A computer-readable medium may include a non-transitory computer-readable medium corresponding to a tangible medium, such as a data storage medium (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 can be accessed by a computer).

[0040] Instructions may 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), graphics processing units (e.g., Nvidia GeForce RTX 2000 series processors, Nvidia GeForce RTX 3000 series processors, AMD Radeon RX 5000 series processors, AMD Radeon RX 6000 series processors, or any other graphics processing unit), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Thus, the term "processor" as used herein may refer to any of the foregoing structures or any other physical structure suitable for implementing the described techniques. Additionally, these techniques may be fully implemented in one or more circuits or logic elements.

[0041] Before explaining any specific implementation of the present disclosure in detail, it should be understood that the present disclosure is not limited to the construction details and component arrangements set forth in the following description or illustrated in the accompanying drawings in terms of its application. The present disclosure can have other specific implementations and can be practiced or implemented in various ways. In addition, it should be understood that the wording and terminology used herein are for the purpose of description and should not be considered as restrictive. The use of "comprises", "including" or "having" and its variations herein is intended to cover the items listed thereafter and their equivalents, as well as additional items. In addition, the present disclosure can use examples to illustrate one or more aspects thereof. Unless otherwise expressly stated, the use or listing of one or more examples (which can be indicated by "for example", "by way of example", "such as" or similar language) is not intended to and does not limit the scope of the present disclosure.

[0042] The terms proximal and distal are used in this disclosure in their conventional medical sense, with proximal being closer to an operator or user of the system and farther away from the area of ​​surgical interest in or on the patient's body, and distal being closer to the area of ​​surgical interest in or on the patient's body and farther away from the operator or user of the system.

[0043] Some robotic system implementations include mounting the robotic system to a surgical table (e.g., an operating table, an operating table, etc.) and a patient (e.g., mounting the robot to the patient such that the patient's body supports the weight of the robot). Such table-mounted and patient-mounted implementations may provide increased accuracy compared to other robotic system implementations in which the robot is not mounted to the patient. The term "robotic system" may also be referred to herein as a "robotic surgical system."

[0044] In some table-mounted robotic system implementations, a weight limit associated with the surgical table may affect the total allowable weight of the robotic system. For example, the surgical table may have a weight limit. Thus, for example, the weight of the patient and the weight limit of the surgical table may affect (e.g., limit) the total weight of the robotic system.

[0045] Furthermore, in some robotic system implementations (e.g., where the robotic system is not table-mounted or patient-mounted), movement of the robotic system during a surgical procedure may result in movement of the surgical table (e.g., in any direction). In some cases, movement of the surgical table may result in malfunction of the robotic system, e.g., associated with object tracking (e.g., tracking a patient, tracking an anatomical element of the patient, etc.). In some other cases, movement of the surgical table relative to the robotic system may result in a loss of synchronization between a coordinate system of the robot (e.g., a robotic arm) and a coordinate system associated with the patient or the surgical table. For example, movement of the surgical table may result in a new registration process with respect to the patient (e.g., patient anatomy, patient body, etc.) and components of the robotic system (e.g., the robot, the robotic arm, an end effector of the robotic arm, etc.).

[0046] Aspects of the present disclosure support a robotic system with a floating patient bed frame. In an example, the robotic system can be mounted to a workstation (e.g., a mobile cart) separate from the surgical table. Example techniques of the present disclosure can support, for example, providing accurate position feedback of the patient relative to the robotic system when the robot is mounted to the workstation.

[0047] Aspects of the robotic system may support monitoring of patient movement both absolutely and relative to one or more landmarks or objects of interest. For example, the robotic system may monitor patient movement based on tracking information, position information, and / or image data associated with the patient. In an example, the robotic system may monitor patient movement relative to a robot, robotic arm, and / or surgical tool controlled by a workstation.

[0048] In some aspects, the robotic system may utilize patient movement information associated with positioning a robotic arm and / or an end effector of the robotic arm. For example, the robotic system may correct the movement of the end effector (e.g., correct the end effector position) based on the patient movement information so as to maintain a target accuracy relative to the positioning or movement of the end effector. In some aspects, the robotic system may correct the movement of the robotic arm and / or the end effector when the displacement between the reference position of the tracked object (e.g., an anatomical element) and the measured position of the tracked object exceeds a first threshold displacement value. In some examples, the patient movement information may be vectorial. For example, the robotic system may support monitoring patient movement and controlling the robotic arm (and / or the end effector of the robotic arm) according to multiple degrees of freedom (e.g., six degrees of freedom (DoF)).

[0049] In some aspects, for situations where a relatively large movement (e.g., of a patient, a surgical table, etc.) exceeds a second threshold displacement value (e.g., higher than the first threshold displacement value), the robotic system can initiate a new registration process. For example, if the robotic system detects movement (e.g., of a patient, a surgical table, etc.) that exceeds the second threshold displacement value, the robotic system can generate and output an alarm (e.g., an audible, visual, and / or tactile notification) indicating that a new registration process is required.

[0050] In some aspects, the second threshold displacement value may be based on (e.g., equal to, less than) a displacement between a reference position of a tracked object (e.g., an anatomical element) and a measured position of the tracked object, which displacement results in a loss of registration between the robotic system and the tracked object. In an example, when the second threshold displacement value is exceeded, the robotic system may perform a new registration process. For example, the new registration process may include registering a coordinate system of the robotic system to a coordinate system associated with the tracked object. In an example, the registration process may generate a correlation between a patient-based coordinate system and a coordinate system of a navigation system associated with the robotic system. When the first threshold displacement value and / or the second threshold displacement value are exceeded, the robotic system may generate and output an alarm (e.g., auditory, visual, tactile, etc.) or notification.

[0051] The robotic system may include a robotic arm coupled (e.g., mechanically, electrically, directly, and / or indirectly) to a workstation. In an example, the robotic arm may be mechanically and electrically coupled to the workstation. In another example, the robotic arm may be mechanically separate from the workstation but electrically coupled to the workstation (e.g., associated with receiving and transmitting data and / or signals). In some other examples, the robotic arm may be mechanically and electrically separate from the workstation but controlled by the workstation (e.g., using wireless communication).

[0052] The robotic arm may be separate from a robotic arm (e.g., a surgical arm) coupled to a workstation. In some aspects, the robotic arm may include one or more components that support bending, flexing, and / or movement of the robotic arm. The robotic arm may be free to bend and / or move (e.g., via bending at one or more joints or hinge points of the robotic arm) in association with maintaining a non-rigid connection. The robotic arm may provide relatively minimal resistance (e.g., below a threshold resistance) to support bending, flexing, and / or movement. The robotic arm may support or maintain a non-rigid connection between the robot and the patient. The robotic arm may support coordinate measurement and coordinate tracking associated with a patient (e.g., an anatomical element of the patient).

[0053] In some aspects, the robotic arm can be a robot-based high-accuracy mechanical measurement device. The robotic arm can be attached to the patient, for example, via a clamp, pin, rod, screw (e.g., Schanz screw), etc. In some aspects, the robotic arm can be part of a portable coordinate measuring machine that supports precise and accurate measurement of an object (e.g., an anatomical element of a patient).

[0054] The robotic arm may support a feature for automatically disconnecting from a patient based on a set of criteria. For example, the robotic arm may include one or more coupling elements (also referred to herein as mechanical attachments) that are capable of automatically disconnecting from a patient based on the set of criteria. Additionally or alternatively, the coupling elements may be capable of disconnecting from each other based on the set of criteria.

[0055] In an example, a coupling element of a robotic arm may be separated (e.g., disconnected) from another coupling element of the robotic arm when a measured force (e.g., applied to a patient, sensed at a robotic arm, etc.) exceeds a threshold force value. Additionally or alternatively, a coupling element may be automatically separated (e.g., disconnected) from another coupling element when a displacement (e.g., between a robotic system and an object) exceeds a threshold displacement value. In some aspects, the threshold displacement value may be based on (e.g., equal to, less than) a maximum extendable length of the robotic arm.

[0056] In an alternative or additional example, the coupling element may be separated (e.g., disconnected) from an attachment point (e.g., a clamp, pin, rod, screw (e.g., Schanz screw), etc.) of the object when the measured force exceeds a threshold force value or when the displacement (e.g., between the robotic system 201 and the anatomical element 208) exceeds a threshold displacement value. In an example, the robotic system may generate and output an alarm (e.g., audible, visual, tactile, etc.) or notification when the threshold force value is exceeded, the threshold displacement is exceeded, and / or the mechanical attachment is disconnected.

[0057] In some alternative and / or additional aspects, the robotic system may include a robot-based high-accuracy optical measurement device. The optical measurement device may be attached to the patient, for example, via a clamp, pin, rod, screw (e.g., Schanz screw), etc. In an example, the optical measurement device may include one or more cameras (e.g., tracking cameras, imaging cameras, depth cameras, etc.), one or more laser tracking devices, etc.

[0058] In some aspects, the robotic system may include a robot-based high-accuracy acoustic measurement device. In an example, the acoustic measurement device may include an ultrasonic sensor capable of tracking the coordinates, position, and / or movement of a coupling element (e.g., a Schanz screw) attached to a tracked object (e.g., an anatomical element). The ultrasonic sensor may include an acoustic transducer capable of transmitting and receiving ultrasonic signals (e.g., ultrasonic pulses). In an example, based on the ultrasonic signal received from (e.g., reflected from) the coupling element (or anatomical element), the acoustic measurement device may determine or calculate the coordinates, position, and / or movement of the coupling element and the anatomical element.

[0059] In some aspects, the robotic system may include a measuring device capable of providing high accuracy acceleration measurement and / or rotation measurement. The measuring device may be attached to the patient, for example, via a clamp, a pin, a rod, a screw (e.g., a Schanz screw), etc. In an example, the measuring device may include an accelerometer. In another example, the measuring device may include a gyroscope. In some aspects, the measuring device may be a monolithic integrated multi-sensor (MIMS) device including a combination of sensors (e.g., an indirect interface sensor such as an accelerometer or a gyroscope, a direct interface sensor such as a microphone, etc.).

[0060] Specific embodiments of the present disclosure provide technical solutions to one or more of the problems of weight limitations in some operating table mounted robotic systems (e.g., bed mounted robotic systems). For example, aspects of the floating patient bed frame described herein support specific implementations in which the robotic arm is mounted to a mobile base (e.g., a mobile cart, a mobile workstation, etc.) separate from the surgical table rather than being mounted to the surgical table. Thus, for example, the characteristics and resulting weight of the robotic arm and surgical tools are not affected by the weight limitations of the surgical table. Various aspects of the robotic system described herein support robotic arms and surgical tools that are more robust and heavier than the robotic arms and surgical tools associated with an operating table mounted robotic system. In some other aspects, because the robotic arm is not mounted to the surgical table, the surgical table can support an increased amount of weight associated with the patient (e.g., supporting obese patients).

[0061] In some aspects, aspects of the robotic arms (e.g., non-rigid connections) and / or optical implementations described with reference to tracking patient movement and patient positioning (e.g., anatomical element location) may support a reduced amount of pressure applied to the patient as compared to some other robotic systems.

[0062] Additionally, aspects of the robotic system associated with generating corresponding alarms and / or executing new registration processes when detected motion (e.g., motion of the patient, motion of the surgical table, etc.) exceeds a threshold value can improve procedural safety. For example, generating an alarm and / or executing a new registration process can improve patient safety associated with a surgical procedure (e.g., maintaining accuracy of the surgical robot).

[0063] Figure 1 An example of a system 100 that supports aspects of the present disclosure is illustrated.

[0064] System 100 includes computing device 102, imaging device 112, robot 114, navigation system 118, operating table 126, database 130, and / or cloud network 134 (or other network). Systems according to other implementations of the present disclosure may include more or fewer components than system 100. For example, system 100 may omit and / or include additional instances of computing device 102, imaging device 112, robot 114, navigation system 118, measurement device 138, measurement device 140, operating table 126, one or more components of computing device 102, database 130, and / or cloud network 134. System 100 may support implementations of one or more other aspects of one or more of the methods disclosed herein.

[0065] Computing device 102 includes processor 104, memory 106, communication interface 108, and user interface 110. Computing devices according to other implementations of the present disclosure may include more or fewer components than computing device 102. Computing device 102 may be, for example, a control device that includes electronic circuitry associated with controlling imaging device 112, robot 114, navigation system 118, and operating table 126.

[0066] The processor 104 of the computing device 102 may be any processor described herein or any similar processor. The processor 104 may be configured to execute instructions stored in the memory 106, which may cause the processor 104 to perform one or more computing steps using or based on data received from the imaging device 112, the robot 114, the navigation system 118, the operating table 126, the database 130, and / or the cloud network 134.

[0067] The memory 106 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory for storing computer-readable data and / or instructions. The memory 106 may store information or data associated with completing any step of the method 400 or any other method described herein, for example. The memory 106 may store instructions and / or machine learning models that support one or more functions of the computing device 102, the imaging device 112, the robot 114, the navigation system 118, and the operating table 126, for example. For example, the memory 106 may store content (e.g., instructions and / or machine learning models) that, when executed by the processor 104, enable image processing 120, segmentation 122, transformation 124, and / or registration 128. In some specific implementations, if provided as instructions, such content may be organized into one or more applications, modules, packages, layers, or engines. Alternatively or additionally, the memory 106 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processor 104 to implement the various methods and features described herein. Thus, although the various contents of the memory 106 may be described as instructions, it should be understood that the functionality described herein may be implemented using instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions may enable the processor 104 to manipulate data stored in the memory 106 and / or received from or via the imaging device 112, the robot 114, the navigation system 118, the database 130, and / or the cloud network 134, the measurement device 138.

[0068] The computing device 102 may also include a communication interface 108. The communication interface 108 may be used to receive data or other information from an external source (e.g., an imaging device 112, a robot 114, a navigation system 118, a database 130, a cloud network 134, and / or any other system or component separate from the system 100) and / or to transmit instructions, data (e.g., image data provided by the imaging device 112, measurement data provided by the measurement device 138, the measurement device 140, etc.) or other information to an external system or device (e.g., another computing device 102, an imaging device 112, a robot 114, a navigation system 118, a database 130, a cloud network 134, and / or any other system or component that is not part of the system 100). The communication interface 108 may include one or more wired interfaces (e.g., a USB port, an Ethernet port, a FireWire port) and / or one or more wireless transceivers or interfaces (configured to transmit and / or receive information, for example, via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.). In some implementations, the communication interface 108 can support communications between the device 102 and 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.

[0069] The computing device 102 may also include one or more user interfaces 110. The user interface 110 may be or include a keyboard, a mouse, a trackball, a monitor, a television, a screen, a touch screen and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 110 may be used, for example, to receive a user selection or other user input about any step of any method described herein. Nevertheless, any required input of any step of any method described herein may be automatically generated by the system 100 (e.g., by another component of the processor 104 or the system 100) or received by the system 100 from a source outside the system 100. In some specific implementations, the user interface 110 may support user modifications (e.g., by surgeons, medical staff, patients, etc.) of instructions executed by the processor 104 according to one or more specific implementations of the present disclosure, and / or support user modifications or adjustments to the settings of other information displayed on or corresponding to the user interface 110.

[0070] In some implementations, the computing device 102 can utilize a user interface 110 that is housed separately from one or more remaining components of the computing device 102. In some implementations, the user interface 110 can be located near one or more other components of the computing device 102, while in other implementations, the user interface 110 can be located remote from one or more other components of the computing device 102.

[0071] The imaging device 112 may be operable to image anatomical features (e.g., bones, veins, tissues, etc.) and / or other aspects of the patient's anatomy to generate image data (e.g., image data depicting or corresponding to bones, veins, tissues, etc.). As used herein, "image data" refers to data generated or captured by the imaging device 112, including data in machine-readable form, graphical / visual form, and in any other form. In different examples, the image data may include data corresponding to the patient's anatomical features or a portion thereof. The image data may be or include preoperative images, intraoperative images, postoperative images, or images taken independently of any surgical procedure. In some specific implementations, the first imaging device 112 may be used to obtain first image data (e.g., a first image) at a first time, and the second imaging device 112 may be used to obtain second image data (e.g., a second image) at a second time after the first time. The imaging device 112 may be capable of capturing 2D images or 3D images to generate image data. The imaging device 112 may be or include, for example, an ultrasound scanner (which may include, for example, physically separate transducers and receivers, or a single ultrasound transceiver), an O-arm, C-arm, G-arm, or any other device utilizing X-ray based imaging (e.g., a fluoroscope, a CT scanner or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermal imaging camera (e.g., an infrared camera), a radar system (which may include, for example, a transmitter, a receiver, a processor, and one or more antennas), or any other imaging device 112 suitable for obtaining images of anatomical features of a patient. The imaging device 112 may be entirely contained within a single housing, or may include a transmitter / transmitter and a receiver / detector that are physically separated in a single housing or otherwise.

[0072] In some implementations, the imaging device 112 may include more than one imaging device 112. For example, a first imaging device may provide first image data and / or a first image, and a second imaging device may provide second image data and / or a second image. In yet other implementations, the same imaging device may be used to provide both the first image data and the second image data and / or any other image data described herein. The imaging device 112 may be operable to generate a stream of image data. For example, the imaging device 112 may be configured to operate with a shutter open, or with a shutter continuously alternating between open and closed, so as to capture continuous images. For purposes of this disclosure, unless otherwise indicated, if the image data represents two or more frames per second, the image data may be considered continuous and / or provided as a stream of image data.

[0073] Robot 114 may be any surgical robot or surgical robotic system. Robot 114 may be or include, for example, a Mazor X TM Stealth version of the robotic guidance system. The robot 114 may be configured to position the imaging device 112 at one or more precise positions and orientations, and / or return the imaging device 112 to the same position and orientation at a later point in time. The robot 114 may additionally or alternatively be configured to manipulate surgical tools (whether or not based on guidance from the navigation system 118) to complete or assist in surgical tasks. In some specific implementations, the robot 114 may be configured to hold and / or manipulate anatomical elements during or in conjunction with a surgical procedure. The robot 114 may be configured to operate or control various aspects of the measurement device 138 and / or measurement device 140 described herein.

[0074] The robot 114 may include one or more robotic arms 116. In some implementations, the robotic arms 116 may include a first robotic arm and a second robotic arm, but the robot 114 may include more than two robotic arms. In some implementations, one or more of the robotic arms 116 may be used to hold and / or manipulate the imaging device 112. In implementations where the imaging device 112 includes two or more physically separate components (e.g., a transmitter and a receiver), one robotic arm 116 may hold one such component and another robotic arm 116 may hold another such component. Each robotic arm 116 may be capable of positioning independently of the other robotic arms. The robotic arms 116 may be controlled in a single shared coordinate space or in separate coordinate spaces.

[0075] The robot 114 together with the robotic arm 116 may have, for example, one, two, three, four, five, six, seven or more DoFs. Furthermore, the robotic arm 116 may be positioned or capable of being positioned in any pose, plane and / or focus. The pose includes a position and an orientation. Thus, an imaging device 112, a surgical tool or other object held by the robot 114 (or more specifically, by the robotic arm 116) may be capable of being precisely positioned in one or more desired and specific positions and orientations.

[0076] The robotic arm 116 may include one or more sensors that enable the processor 104 (or a processor of the robot 114) to determine the precise pose of the robotic arm (and any object or element held by or secured to the robotic arm) in space. The robotic arm 116 may include an end effector (not illustrated) coupled to the distal end of the robotic arm. The end effector may support the interaction of the robotic arm with the environment.

[0077] In some implementations, reference markers (e.g., navigation markers, three-dimensional markers) may be placed on the robot 114 (including, for example, on the robot arm 116), the imaging device 112, the measurement device 138, the measurement device 140, the operating table 126, or any other object in the surgical space. The reference markers may be tracked by the navigation system 118, and the results of the tracking may be used by the robot 114 and / or by an operator of the system 100 or any component thereof. In some implementations, the navigation system 118 may be used to track other components of the system (e.g., the imaging device 112), and the system may be operated without the use of the robot 114 (e.g., the surgeon manually manipulates the imaging device 112 and / or one or more surgical tools, e.g., based on information and / or instructions generated by the navigation system 118).

[0078] During the operation, the navigation system 118 can provide navigation for the surgeon and / or the surgical robot. The navigation system 118 can be any known or future developed navigation system, including, for example, the Medtronic StealthStation TM S8 surgical navigation system or any successor thereof. The navigation system 118 may include one or more cameras or other sensors for tracking one or more reference markers, navigation trackers, or other objects within an operating room or other room where part or all of the system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some specific implementations, the navigation system 118 may include one or more electromagnetic sensors. In various specific implementations, the navigation system 118 may be used to track the position and orientation (e.g., pose) of the imaging device 112, the robot 114 and / or the robot arm 116, the measuring device 138, the measuring device 140, and / or one or more surgical tools (or more specifically, for tracking the pose of a navigation tracker attached directly or indirectly in a fixed relationship to one or more of the foregoing).

[0079] The system 100 may support a non-rigid connection between the robot 114 and the patient, for example, using a measurement device 138. The measurement device 138 may support coordinate measurement and coordinate tracking associated with the patient (e.g., anatomical elements of the patient). In an example, the measurement device 138 may be coupled to a workstation or the robot 114 (described later in Figure 2A 102 and an anatomical element of a patient. In some aspects, the workstation may include a computing device 102. The measuring device 138 may also be referred to herein as a mechanical measuring device 138. Figure 2A Example aspects of measurement device 138 are described.

[0080] The system 100 may support alternative and / or additional implementations of coordinate measurement and coordinate tracking associated with a patient (e.g., an anatomical element of the patient) using the measurement device 140. In an example, the measurement device 140 may be coupled to a workstation or robot 114 (described later in Figure 3 In an example, the measurement device 140 may include an optical measurement device, an acoustic measurement device (e.g., an acoustic transducer), and / or a measurement device capable of providing acceleration measurements and / or rotation measurements, various aspects of which are described later in detail. FIG. 2B to FIG. 2D Description. In some aspects, the measurement device 140 can include a multi-sensor device, such as, for example, a MIMS device. In some aspects, the measurement device 140 can be a gyroscope, an accelerometer, or the like.

[0081] The navigation system 118 may include a display (e.g., display 242 described later herein) for displaying one or more images from an external source (e.g., computing device 102, imaging device 112, or other source) or for displaying images and / or video streams from one or more cameras or other sensors of the navigation system 118. In some implementations, the system 100 may operate without the use of the navigation system 118. The navigation system 118 may be configured to provide guidance to a surgeon or other user of the system 100 or its components, to the robot 114, or to any other element of the system 100 regarding, for example, the pose of one or more anatomical elements, whether a tool is in an appropriate trajectory, and / or how to move a tool into an appropriate trajectory to perform a surgical task according to a preoperative or other surgical plan.

[0082] The database 130 may store information relating one coordinate system to another coordinate system (e.g., relating one or more robot coordinate systems to a patient coordinate system and / or a navigation coordinate system). The database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about the target and / or image information about the patient's anatomical structure at and / or near the surgical site for use by the robot 114, the navigation system 118, and / or the computing device 102 or a user of the system 100); one or more images that may be used in conjunction with a surgical procedure performed by or with the assistance of one or more other components of the system 100; and / or any other useful information. The database 130 may additionally or alternatively store, for example, the location or coordinates of an object (e.g., an anatomical element of a patient) associated with the system 100. The database 130 may be configured to provide any such information to the computing device 102 or any other device of the system 100 or any other device external to the system 100, whether directly or via the cloud network 134.

[0083] In some implementations, database 130 may include thresholds associated with movement of the patient, robot 114 , measurement device 138 , measurement device 140 , and / or operating table 126 .

[0084] For example, database 130 may include thresholds associated with force values ​​measured at an object (e.g., an anatomical element of a patient). Database 130 may include thresholds associated with force values ​​measured at a measurement device 138 (e.g., a mechanical measurement device, such as a robotic arm as described herein). Force values ​​(e.g., at an object, at a measurement device 138, etc.) may be measured and / or calculated by any combination of measurement device 138, robot 114, navigation system 118, and computing device 102. The thresholds may be set or modified, for example, by computing device 102.

[0085] In some aspects, database 130 may include thresholds associated with displacement values ​​of an object (e.g., an anatomical element) relative to reference position information associated with the object. In some aspects, the displacement values ​​may be measured and / or calculated based on data measured using measurement device 138 (e.g., a mechanical measurement device). Additionally or alternatively, the displacement values ​​may be measured and / or calculated based on data measured using measurement device 140 (e.g., an optical measurement device, an acoustic transducer, a multi-sensor device, a MIMS device, a gyroscope, an accelerometer, etc.).

[0086] In some embodiments, database 130 can be or include part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0087] In some aspects, computing device 102 may communicate with a server and / or database (e.g., database 130) directly or indirectly through a communication network (e.g., cloud network 134). The communication network may include any type of known communication medium or collection of communication mediums and may use any type of protocol to transmit data between endpoints. The communication network may include wired communication technology, wireless communication technology, or any combination thereof.

[0088] Wired communication technologies may include, for example, Ethernet-based wired local area network (LAN) connections using a physical transmission medium (e.g., coaxial cable, copper cable / wire, fiber optic cable, etc.). Wireless communication technologies may include, for example, cellular or cellular data connections and protocols (e.g., digital cellular, personal communications service (PCS), cellular digital packet data (CDPD), general packet radio service (GPRS), enhanced data rates for global system for mobile communications (GSM) evolution (EDGE), code division multiple access (CDMA), single carrier radio transmission technology (1×RTT), evolution data optimized (EVDO), high speed packet access (HSPA), universal mobile telecommunications service (UMTS), 3G, long term evolution (LTE), 4G and / or 5G, etc.), Low power, Wi-Fi, radio, satellite, infrared connections and / or Communication protocol.

[0089] The Internet is an example of a communication network that constitutes an Internet Protocol (IP) network, which is composed of multiple computers, computing networks and other communication devices located in multiple locations, and the components in the communication network (e.g., computers, computing networks, communication devices) can be connected through one or more telephone systems and other means. Other examples of communication networks may include, but are not limited to, standard plain old telephone system (POTS), integrated services digital network (ISDN), public switched telephone network (PSTN), local area network (LAN), wide area network (WAN), wireless LAN (WLAN), session initiation protocol (SIP) network, voice over Internet protocol (VoIP) network, cellular network and any other type of packet switching or circuit switching network known in the art. In some cases, the communication network 120 may include any combination of networks or network types. In some aspects, the communication network may include any combination of communication media, such as coaxial cable, copper cable / wire, fiber optic cable or antenna for transmitting data (e.g., transmitting / receiving data).

[0090] Computing device 102 can connect to cloud network 134 via communication interface 108 using a wired connection, a wireless connection, or both. In some implementations, computing device 102 can communicate with database 130 and / or external devices (eg, computing devices) via cloud network 134.

[0091] System 100 or a similar system may be used, for example, to perform one or more aspects of process flow 300 described herein. System 100 or a similar system may also be used for other purposes.

[0092] Various aspects of the system 100 that supports monitoring patient movement will be described below with reference to the following figures.

[0093] refer to FIG. 2A to FIG. 2D, shows examples 200 - a to 200 - d of a robotic system 201 and components thereof according to an example implementation of the present disclosure.

[0094] The characteristics of the robot system 201 can be described in conjunction with the coordinate system 202. FIG. 2A to FIG. 2D As shown, the coordinate system 202 includes three dimensions including an X-axis, a Y-axis, and a Z-axis. Additionally or alternatively, the coordinate system 202 can be used to define planes (e.g., an XY plane, an XZ plane, and a YZ plane) of the robotic system 201. These planes can be arranged to be orthogonal or 90 degrees to each other. Although the origin of the coordinate system 202 can be placed at any point on or near the components of the robotic system 201, for descriptive purposes, the axes of the coordinate system 202 are always arranged in the same direction from figure to figure, regardless of whether the coordinate system 202 is shown. In some examples, dimensions, angles, directions, relative positions, and / or movements associated with one or more components of the robotic system 201 can be referenced relative to the coordinate system 202.

[0095] Figure 2A Example 200-a supporting various aspects of the present disclosure is illustrated. In example 200-a, a robotic system 201 may include a robot 214 (e.g., including electronic components and mechanical components of a robotic arm 216), a navigation system (e.g., including a measurement device 238), a movable base 212, and an operating table 226 (e.g., a surgical table, an operating table, a patient's bed, etc.).

[0096] The robotic system 201 (eg, the robot 214, the robotic arm 216, the operating table 226, the measuring device 238, etc.) may include the Figure 1 Examples of various aspects of similar elements described. In some cases, the robot system 201 can be referred to as a workstation. For example, the robot system 201 can include a display 242 and additional user interfaces (e.g., keyboard, mouse, controls, etc.) for manipulating the robot 214.

[0097] The robotic system 201 and the measuring device 238 may support a non-rigid connection between the robot 114 and the patient 204. In an example, the non-rigid connection may be implemented using the measuring device 238. The measuring device 238 may be, for example, a robotic arm coupled to the robotic system 201 (e.g., mechanically coupled to the robot 214 or integrated with the robot). The measuring device 238 may be or may be incorporated as part of a portable coordinate measuring machine that supports accurate measurement of an object (e.g., an anatomical element 208) relative to a multi-dimensional (e.g., three-dimensional) coordinate system. The measuring device 238 may move, for example, forward / backward, up / down, and left / right within the multi-dimensional coordinate system, combined with rotational movement around three perpendicular axes. Information or data associated with the movement of the measuring device 238 (e.g., the movement of the object recorded and provided by the measuring device 238) may be vector (e.g., six DoF).

[0098] In some aspects, the measurement device 238 can include one or more components (e.g., connectors, arms, hinges, joints, probes, etc.) that support bending, flexion, and / or movement of the measurement device 238. The measurement device 238 can be free to flex and / or move (e.g., via flexion at one or more joints or hinges of the measurement device 238) in association with maintaining a non-rigid connection. The measurement device 238 can provide relatively minimal resistance (e.g., below a threshold resistance) to support bending, flexion, and / or movement.

[0099] In some aspects, the measurement device 238 can be a robot-based high-accuracy mechanical measurement device. The measurement device 238 can be attached to the patient 204 via a coupling component 246. The coupling component 246 can be, for example, a clamp, a pin, a rod, a screw (e.g., a Schanz screw), etc.

[0100] Aspects of the robotic system 201 can support monitoring of patient movement (e.g., as provided by the measurement device 238). In an example, the robotic system 201 can monitor movement of the patient (e.g., movement of the anatomical element 208) relative to the robotic system 201. In some examples, the robotic system 201 can monitor movement of the patient relative to the robot 214, the robotic arm 216, and / or a surgical tool coupled to the robotic arm 216.

[0101] In some aspects, the robotic system 201 can utilize patient movement information associated with positioning the robotic arm 216, an end effector of the robotic arm 216, and / or a surgical tool coupled to the robotic arm 216. For example, the robotic system 201 can calibrate the movement of the robotic arm 216, the surgical tool, and / or the end effector corresponding to the patient movement information so as to maintain a target accuracy. In some examples, the patient movement information can be vectorial. For example, the robotic system 201 can support monitoring patient movement and controlling the robotic arm 216, the surgical tool, and the end effector according to multiple degrees of freedom (e.g., six degrees of freedom).

[0102] In some aspects, for situations where relatively large movement (e.g., of the patient 204, the anatomical element 208, the surgical table 226, etc.) exceeds a threshold displacement value "d1", the robotic system 201 may initiate a new registration process. The threshold displacement value "d1" may be relative to any axis (e.g., x-axis, y-axis, z-axis) of the environment of example 200-a. In the example, if the robotic system 201 detects that the movement (e.g., of the patient 204, the anatomical element 208, the surgical table 226, etc.) exceeds the threshold displacement value "d1", the robotic system 201 may generate and output an alarm (e.g., an auditory, visual, and / or tactile notification) indicating that a new registration process is required. The robotic system 201 may perform the new registration process autonomously or semi-autonomously (e.g., based in part on user input).

[0103] In some aspects, the threshold displacement value "d1" may be based on (e.g., equal to, less than) the displacement between a reference position (e.g., a registered position) of the anatomical element 208 and a measured position of the anatomical element 208 that requires a new registration process. When the threshold displacement value "d1" is exceeded, the robotic system 201 may generate and output an alarm (e.g., auditory, visual, tactile, etc.) or notification. In an example, when the threshold displacement value "d1" is exceeded, the robotic system 201 may perform a new registration process.

[0104] Additionally or alternatively, the robotic system 201 may initiate a new registration process for a condition where a parameter value (e.g., force, acceleration, velocity, etc.) measured by the measurement device 238 exceeds a corresponding threshold value (e.g., a threshold force value, a threshold acceleration value, a threshold velocity, etc.). For example, when a measured force (e.g., applied to the patient 204, sensed at the measurement device 238, etc.) exceeds a threshold force value, the robotic system 201 may initiate a new registration process. In another example, when a measured acceleration (e.g., an acceleration of the patient 204 sensed at the measurement device 238, etc.) exceeds a threshold acceleration value, the robotic system 201 may initiate a new registration process. In some examples, when a measured velocity (e.g., a velocity of the patient 204 sensed at the measurement device 238, etc.) exceeds a threshold velocity value, the robotic system 201 may initiate a new registration process.

[0105] The measurement device 238 may support features for automatically disconnecting from the patient 204 based on a set of criteria. For example, the measurement device 238 may include one or more coupling elements 250 (also referred to herein as mechanical attachments) that are capable of automatically disconnecting from the patient 204 based on the set of criteria. Additionally or alternatively, the coupling elements 250 may be capable of disconnecting from each other based on the set of criteria.

[0106] In an example, when the measured force (e.g., applied to the patient 204, sensed at the measurement device 238, etc.) exceeds a threshold force value, the coupling element 250-a may be separated (e.g., disconnected) from the coupling element 250-b. Additionally or alternatively, when the displacement (e.g., between the robotic system 201 and the anatomical element 208) exceeds a threshold displacement value "d2", the coupling element 250-a may be automatically separated (e.g., disconnected) from the coupling element 250-b. In some aspects, the threshold displacement value "d2" may be based on (e.g., equal to, less than) the maximum extendable length of the measurement device 238.

[0107] In an alternative or additional example, when the measured force exceeds a threshold force value, the coupling element 250-a can be separated (e.g., disconnected) from the coupling member 246. In another example, when the displacement (e.g., between the robotic system 201 and the anatomical element 208) exceeds a threshold displacement value "d2", the coupling element 250-a can be separated (e.g., disconnected) from the coupling member 246.

[0108] When the measured force exceeds a threshold force value, the robotic system 201 may generate and output an alarm (e.g., auditory, visual, tactile, etc.) or notification. In some aspects, when the displacement (e.g., between the robotic system 201 and the anatomical element 208) exceeds a threshold displacement value "d2", the robotic system 201 may generate and output an alarm or notification. In some other aspects, when the coupling element 250-a is separated from the coupling component 246 or when the coupling element 250-a is separated from the coupling element 250-b, the robotic system 201 may generate and output an alarm or notification. In an example, after detecting that the coupling element 250-a is reattached to the coupling component 246 (or after the coupling element 250-a is reattached to the coupling element 250-b), the robotic system 201 may autonomously or semi-autonomously (e.g., based in part on user input) perform the new alignment process described herein.

[0109] The measuring device 238 may include a separation mechanism at the coupling element 250-a, the coupling component 246, and / or the coupling element 250-b. The separation mechanism may be a mechanical component or an electromechanical component. In some aspects, the separation mechanism may include a sensor capable of detecting attachment and / or separation between multiple components (e.g., the coupling element 250-a and the coupling component 246, the coupling element 250-a and the coupling element 250-b). In an example, the sensor may detect that the coupling element 250-a has been separated from the coupling component 246, and the sensor may output a signal indicating the separation to the robotic system 201. In response to receiving the signal, the robotic system 201 may generate and output an alarm indicating the separation. In some examples, the alarm may indicate that a new alignment process as described herein is required.

[0110] FIG. 2B to FIG. 2D Examples 200-b to 200-d are illustrated to support various aspects of the present disclosure. In examples 200-b to 200-d, alternative and / or additional aspects of the robotic system 201 may include a measurement device 240, aspects of which are described herein. Other features of the robotic system 201 (e.g., the robot 214, the robotic arm 216, the operating table 226, etc.) may include those described herein. Figure 1 and Figure 2A Examples of aspects of similar elements are described.

[0111] refer to Figure 2B , the measuring device 240-a can be, for example, a high accuracy optical measuring device coupled to the robot system 201. For example, the measuring device 240-a can be mechanically coupled to the robot 214 or integrated with the robot. The measuring device 240-a may include one or more cameras (e.g., tracking cameras, imaging cameras, depth cameras, etc.). In another example, the measuring device 240-a may include one or more laser tracking devices.

[0112] In some aspects, the measurement device 240-a can track the coordinates, position, and / or movement of a coupling element 246 (e.g., a Schanz screw) attached to the anatomical element 208. In some other aspects, the measurement device 240-a can track the coordinates, position, and / or movement of a tracking device 254 attached to the anatomical element 208. In an example, the tracking device 254 can be attached to the anatomical element 208, for example, via a clamp, a pin, a rod, a screw (e.g., a Schanz screw), etc.

[0113] refer to Figure 2C , the measuring device 240 - b may be, for example, a high-accuracy acoustic measuring device.

[0114] In an example implementation, the measuring device 240-b may be mounted to the robotic system 201 (e.g., the robot 214, the robotic arm 216). The measuring device 240-b may include an ultrasonic sensor capable of tracking the coordinates, position, and / or movement of a coupling element 246 (e.g., a Schanz screw) attached to the anatomical element 208. The ultrasonic sensor may include an acoustic transducer capable of transmitting and receiving ultrasonic signals (e.g., ultrasonic pulses). In an example, based on ultrasonic signals received from (e.g., reflected from) the coupling element 250, the measuring device 240-b may determine or calculate the coordinates, position, and / or movement of the coupling element 250 (and thus the anatomical element 208). Additionally or alternatively, the measuring device 240-b may determine or calculate the coordinates, position, and / or movement of the anatomical element 208 based on ultrasonic signals transmitted toward and received from (e.g., reflected from) the anatomical element 208.

[0115] In another example implementation, the measuring device 240-b may include one or more sensors (e.g., microphones) capable of detecting and / or measuring ultrasonic signals (e.g., sound waves) transmitted by the transmission device 258. The transmission device 258 may be attached to the patient, for example, via a clamp, a pin, a rod, a screw (e.g., a Schanz screw), etc., and the measuring device 240-b (e.g., sensor, microphone) may be mounted to the robotic system 201 (e.g., robot 214, robotic arm 216). Based on the signal output by the transmission device 258, the measuring device 240-b may collect data associated with detecting the position of the patient 204 or the anatomical element 208 (e.g., tracking data, position data, movement data, etc.).

[0116] Additionally or alternatively, the measuring device 240-b may be attached to the patient 204 and the transmitting device 258 may be mounted to the robotic system 201. In an example, based on the signal output by the transmitting device 258, the measuring device 240-b may determine the position of the patient 204 or the anatomical element 208 relative to the robotic system 201.

[0117] refer to Figure 2D , the measuring device 240-c may, for example, be capable of providing high accuracy acceleration measurements and / or rotation measurements. The measuring device 240-c may be attached to the patient (e.g., to the anatomical element 208), for example, via a clamp, a pin, a rod, a screw (e.g., a Schanz screw), etc. In an example, the measuring device 240-c may include an accelerometer. In another example, the measuring device 240-c may include a gyroscope. In some aspects, the measuring device 240-c may be a monolithic integrated multi-sensor (MIMS) device that includes a combination of sensors (e.g., an indirect interface sensor such as an accelerometer or a gyroscope, a direct interface sensor such as a microphone, etc.).

[0118] In an example, the measuring device 240-c may transmit information measured by the measuring device 240-c (e.g., acceleration, rotation, acoustic signals, etc.) to the robotic system 201. Based on this information, the robotic system 201 may determine or calculate the coordinates, position, and / or movement of the anatomical element 208.

[0119] References FIG. 2A to FIG. 2D Any number of the devices and systems described (e.g., robotic system 201, robot 214, robotic arm 216, measuring devices 240-a to 240-c, coupling component 246, tracking device 254, transmission device 258, etc.) may be implemented in the robotic system 201.

[0120] In addition, reference Figure 2A The various aspects described can be referred to in FIG. 2B to FIG. 2D The robotic system 201 may be implemented in accordance with the examples described herein. For example, the robotic system 201 may support monitoring patient movement and controlling the robotic arm 216, surgical tools, and end effectors based on information provided by the measurement device 238 and any one of the measurement devices 240-a to 240-c. The robotic system 201 may calibrate the movement of the robotic arm 216, surgical tools, and / or end effectors corresponding to the patient movement information determined using the measurement device 238 and any one of the measurement devices 240-a to 240-c (e.g., in order to maintain target accuracy). The robotic system 201 may initiate a new alignment process and / or generate an alert as described herein based on the movement information determined using the measurement device 238 and any one of the measurement devices 240-a to 240-c.

[0121] Figure 3 An example of a process flow 300 according to aspects of the present disclosure is illustrated. In some examples, the process flow 300 may implement reference Figure 1 and FIG. 2A to FIG. 2D Aspects of computing device 102 , imaging device 112 , robot 114 , and / or navigation system 118 are described.

[0122] In the following description of process flow 300, operations may be performed in a different order than shown, or may be performed in a different order or at a different time. Certain operations may be omitted from process flow 300, or other operations may be added to process flow 300.

[0123] It should be appreciated that any of the operations of process flow 300 may be performed by any device (eg, computing device 102, imaging device 112, robot 114, navigation system 118, etc.).

[0124] The robotic system includes a robot and one or more measuring devices. In some aspects, the robot is mounted to a movable base and the robot includes one or more robotic arms.

[0125] At 305, process flow 300 includes monitoring, by one or more measurement devices, one or more parameters associated with an object. In some aspects, the object may include an anatomical element. In some aspects, the one or more parameters may include at least one of movement information, position information, and orientation information associated with the object.

[0126] At 310 , process flow 300 includes adjusting a pose of the robot based on one or more parameters satisfying one or more criteria.

[0127] In some aspects, adjusting the pose of the robot may include adjusting the position of the robot or the position of one or more robot arms. In some other aspects, adjusting the pose of the robot may include adjusting the orientation of the robot or the orientation of one or more robot arms.

[0128] In some aspects, the one or more parameters may include position information associated with the object; and the one or more criteria may include a displacement threshold relative to reference position information associated with the object.

[0129] At 315 , process flow 300 may include outputting an alert based on the one or more parameters satisfying one or more second criteria.

[0130] At 320 , process flow 300 may include performing a registration process associated with the object and the robot based on the one or more parameters satisfying one or more second criteria.

[0131] In some aspects, the one or more measurement devices may include: a mechanical measurement device coupled to the robot and the object. In some aspects, the mechanical measurement device maintains a non-rigid connection between the robot and the object.

[0132] In some aspects, the mechanical measurement device may include one or more coupling elements configured to decouple based on at least one of: a first force value measured at the object, a second force value measured at a portion of the mechanical measurement device, or both; and a displacement value of the object exceeding a threshold displacement value. In some aspects, the displacement value is measured by the mechanical measurement device.

[0133] In some other aspects, the one or more measurement devices can include one or more optical measurement devices. In some aspects, the one or more optical measurement devices are coupled to a robot, one or more robot arms, or both.

[0134] In some aspects, the one or more measurement devices can include at least one of: a first acoustic transducer coupled to the robot or one or more robotic arms; and a second acoustic transducer coupled to the object.

[0135] In some aspects, the one or more measurement devices may include: a multi-sensor device coupled to the object. In some aspects, the multi-sensor device is a MIMS device including at least one of: a gyroscope; and an accelerometer.

[0136] Processing flow 300 (and / or one or more operations thereof) may be performed, for example, by at least one processor or otherwise. The at least one processor may be the same or similar to processor 104 of computing device 102 described above. The at least one processor may be part of a robot (such as robot 114) or part of a navigation system (such as navigation system 118). Processors other than any processor described herein may also be used to perform processing flow 300. At least one processor may perform operations of processing flow 300 by executing elements stored in a memory (such as memory 106). The elements stored in the memory and executed by the processor may cause the processor to perform one or more operations of the functions shown in processing flow 300. One or more portions of processing flow 300 may be performed by a processor that executes any of the contents of the memory (such as image processing 120, segmentation 122, transformation 124, and / or registration 128).

[0137] As mentioned above, the present disclosure encompasses Figure 3 of all operations in the operations identified in (and the corresponding description of process flow 300), and including beyond Figure 3 The present disclosure also encompasses methods comprising one or more steps from one method described herein and one or more steps from another method described herein. Any correlation described herein may be or include registration or any other correlation.

[0138] The foregoing is not intended to limit the present disclosure to one or more forms disclosed herein. In the aforementioned specific embodiments, for example, for the purpose of simplifying the present disclosure, the various features of the present disclosure are grouped together in one or more aspects, specific implementations and / or configurations. The features of the aspects, specific implementations and / or configurations of the present disclosure may be combined in alternative aspects, specific implementations and / or configurations other than those discussed above. The method of the present disclosure should not be interpreted as reflecting the following intention: the claims require more features than the features explicitly stated in each claim. On the contrary, as reflected in the following claims, aspects of the present invention are less than all the features of a single aforementioned disclosed aspect, specific implementation and / or configuration. Therefore, the following claims are hereby incorporated into this specific embodiment, wherein each claim exists independently as a separate preferred specific implementation of the present disclosure.

[0139] In addition, although the foregoing has included descriptions of one or more aspects, specific implementations and / or configurations and certain variations and modifications, other variations, combinations and modifications are within the scope of the present disclosure, for example, within the skill and knowledge of those skilled in the art after understanding the present disclosure. It is intended to obtain rights to include alternative aspects, specific implementations and / or configurations, including alternative, interchangeable and / or equivalent structures, functions, ranges or steps of those claimed, regardless of whether such alternative, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and it is not intended to disclose any patentable subject matter.

[0140] Example aspects of the present disclosure include:

[0141] A system comprising: a robot mounted to a movable base and comprising one or more robot arms; one or more measurement devices; a processor; a memory in electronic communication with the processor; instructions stored in the memory and executable by the processor to: monitor one or more parameters associated with an object by the one or more measurement devices; and adjust the posture of the robot based on the one or more parameters satisfying one or more criteria.

[0142] In any of the aspects herein, adjusting the pose of the robot comprises at least one of: adjusting the position of the robot or the position of one or more robot arms; and adjusting the orientation of the robot or the orientation of one or more robot arms, or both.

[0143] In any of the aspects herein, the instructions are further executable by the processor to perform at least one of: output an alert based on the one or more parameters satisfying one or more second criteria; and perform an alignment process associated with the object and the robot based on the one or more parameters satisfying the one or more second criteria.

[0144] In any of the aspects herein, wherein the one or more parameters include at least one of movement information, position information, and orientation information associated with the object.

[0145] In any of the aspects herein, wherein: the one or more parameters include position information associated with the object; and the one or more criteria include a displacement threshold relative to reference position information associated with the object.

[0146] In any of the aspects herein, wherein the one or more measurement devices include a mechanical measurement device coupled to the robot and the object.

[0147] In any of the aspects herein, wherein the mechanical measurement device maintains a non-rigid connection between the robot and the object.

[0148] In any of the aspects herein, wherein: the mechanical measurement device includes one or more coupling elements, and the one or more coupling elements are configured to separate based on at least one of: a first force value measured at the object, a second force value measured at a portion of the mechanical measurement device, or both; and a displacement value of the object exceeding a threshold displacement value, wherein the displacement value is measured by the mechanical measurement device.

[0149] In any of the aspects herein, wherein the one or more measurement devices include one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to a robot, one or more robot arms, or both.

[0150] In any of the aspects herein, the one or more measurement devices include at least one of: a first acoustic transducer coupled to a robot or one or more robotic arms; and a second acoustic transducer coupled to an object.

[0151] In any of the aspects herein, wherein the one or more measurement devices include a multi-sensor device coupled to the object.

[0152] In any of the aspects herein, wherein the multi-sensor device is a monolithically integrated multi-sensor (MIMS) device, the monolithically integrated multi-sensor (MIMS) device comprising at least one of: a gyroscope; and an accelerometer.

[0153] In any of the aspects herein, wherein the object comprises an anatomical element.

[0154] A device, the device comprising: a robot, the robot comprising one or more robot arms; a movable base, the movable base coupled to the robot; one or more measurement devices; a processor; a memory, the memory being in electronic communication with the processor; instructions, the instructions being stored in the memory and executable by the processor to: monitor one or more parameters associated with an object by the one or more measurement devices; and adjust the posture of the robot based on the one or more parameters satisfying one or more criteria.

[0155] In any of the aspects herein, wherein the one or more measurement devices include a mechanical measurement device coupled to the robot and the object.

[0156] In any of the aspects herein, wherein the mechanical measurement device maintains a non-rigid connection between the robot and the object.

[0157] In any of the aspects herein, the mechanical measurement device includes one or more coupling elements, and the one or more coupling elements are configured to separate based on at least one of: a first force value measured at the object, a second force value measured at a portion of the mechanical measurement device, or both; and a displacement value of the object exceeding a threshold displacement value, wherein the displacement value is measured by the mechanical measurement device.

[0158] In any of the aspects herein, the one or more measurement devices include at least one of: one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to a robot, one or more robot arms, or both; one or more acoustic transducers, wherein the one or more acoustic transducers are coupled to the robot, the one or more robot arms, the object, or a combination thereof; and a multi-sensor device, wherein the multi-sensor device is coupled to an object.

[0159] A method comprising: monitoring one or more parameters associated with an object by one or more measurement devices of a robot; and adjusting a pose of the robot based on the one or more parameters satisfying one or more criteria, wherein the robot is mounted to a movable base.

[0160] Any of the aspects herein further includes: outputting an alert based on the one or more parameters satisfying one or more second criteria; and performing an alignment process associated with the object and the robot based on the one or more parameters satisfying the one or more second criteria.

[0161] Any aspect may be combined with any one or more other aspects.

[0162] Any one or more of the features disclosed herein.

[0163] Any one or more of the features is generally disclosed herein.

[0164] Any one or more of the features generally disclosed herein may be combined with any one or more of the other features generally disclosed herein.

[0165] Any aspect / feature / implementation may be combined with any one or more other aspects / features / implementations.

[0166] Use any one or more of the aspects or features disclosed herein.

[0167] It should be understood that any feature described herein may be claimed in combination with any other feature described herein, regardless of whether the features are from the same described implementation.

[0168] The phrases "at least one," "one or more," and "and / or" are open-ended expressions that are both connective and disjunctive 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," "A, B and / or C," and "A, B, or C" each mean A only, B only, C only, A and B together, A and C together, B and C together, or A, B, and C together.

[0169] The term "an" entity refers to one or more of that entity. Therefore, the terms "a", "one or more", and "at least one" can be used interchangeably herein. It should also be noted that the terms "including", "comprising", and "having" can be used interchangeably.

[0170] As used herein, the term "automatic" and variations thereof refer to any process or operation, which is generally continuous or semi-continuous, that is performed without substantial human input when the process or operation is performed. However, a process or operation may be automatic even if the performance of the process or operation uses substantial or substantial human input if the input is received prior to the performance of the process or operation. Human input is considered substantial input if it affects the manner in which the process or operation is performed. Human input that consents to the performance of the process or operation is not considered "substantial."

[0171] Aspects of the present disclosure may take the form of an entirely hardware implementation, an entirely software implementation (including firmware, resident software, microcode, etc.), or an implementation combining software and hardware aspects, which may all be generally referred to herein as a "circuit," "module," or "system." Any combination of one or more computer-readable media may be utilized. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.

[0172] A computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) would include the following: an electrical connector having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer-readable storage medium may be any tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus.

[0173] A computer readable signal medium may include, for example, a propagated data signal in baseband or as part of a carrier wave, the propagated data signal having a computer readable program code embodied therein. Such a propagated signal may take any of a variety of forms, including but not limited to electromagnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that may transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, device, or apparatus. The program code embodied in a computer readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

[0174] As used herein, the terms "determine," "calculate," "estimate," and variations thereof are used interchangeably and include any type of methodology, process, mathematical operation, or technique.

Claims

1. A system, comprising: a robot mounted to a movable base and comprising one or more robotic arms; one or more measurement devices, the one or more measurement devices comprising a mechanical measurement device coupled to the robot and the object; processor; and a memory in electronic communication with the processor; and instructions stored in the memory and executable by the processor to: monitoring, by the one or more measurement devices, one or more parameters associated with the subject; and The pose of the robot is adjusted based on the one or more parameters satisfying one or more criteria.

2. The system of claim 1 , wherein adjusting the posture of the robot comprises at least one of: adjusting the position of the robot or the position of the one or more robot arms; and Adjusting the orientation of the robot or the orientation of the one or more robot arms, or both.

3. The system of claim 1, wherein the instructions are further executable by the processor to perform at least one of the following: outputting an alert based on the one or more parameters satisfying one or more second criteria; and A registration process associated with the object and the robot is performed based on the one or more parameters satisfying the one or more second criteria.

4. The system of claim 1, wherein: The one or more parameters include at least one of movement information, position information, and orientation information associated with the object.

5. The system of claim 1, wherein: The one or more parameters include location information associated with the object; and The one or more criteria include a displacement threshold relative to reference position information associated with the object.

6. The system of claim 1, wherein: The mechanical measurement device maintains a non-rigid connection between the robot and the object.

7. The system of claim 1, wherein: The mechanical measurement device includes one or more coupling elements configured to separate based on at least one of: a first force value measured at the object, a second force value measured at a portion of the mechanical measurement device, or both; and A displacement value of the object exceeds a threshold displacement value, wherein the displacement value is measured by the mechanical measurement device.

8. The system of claim 1, wherein the one or more measuring devices include: One or more optical measurement devices, wherein the one or more optical measurement devices are coupled to the robot, the one or more robot arms, or both.

9. The system of claim 1, wherein the one or more measurement devices include at least one of: a first acoustic transducer coupled to the robot or the one or more robotic arms; and A second acoustic transducer is coupled to the object.

10. The system of claim 1, wherein the one or more measuring devices include: A multi-sensor device is coupled to the object.

11. The system of claim 10, wherein the multi-sensor device is a monolithically integrated multi-sensor (MIMS) device, the monolithically integrated multi-sensor (MIMS) device comprising at least one of: gyroscope; and Accelerometer.

12. The system of claim 1, wherein the object comprises an anatomical element.

13. A device, comprising: a robot comprising one or more robot arms; a movable base coupled to the robot; one or more measurement devices, the one or more measurement devices comprising a mechanical measurement device coupled to the robot and the object; processor; and a memory in electronic communication with the processor; and instructions stored in the memory and executable by the processor to: monitoring, by the one or more measurement devices, one or more parameters associated with the subject; and The pose of the robot is adjusted based on the one or more parameters satisfying one or more criteria.

14. The apparatus of claim 13, wherein: The mechanical measurement device maintains a non-rigid connection between the robot and the object.

15. The apparatus of claim 13, wherein: The mechanical measurement device includes one or more coupling elements configured to separate based on at least one of: a first force value measured at the object, a second force value measured at a portion of the mechanical measurement device, or both; and A displacement value of the object exceeds a threshold displacement value, wherein the displacement value is measured by the mechanical measurement device.

16. The apparatus of claim 13, wherein the one or more measuring devices include at least one of: one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to the robot, the one or more robot arms, or both; one or more acoustic transducers, wherein the one or more acoustic transducers are coupled to the robot, the one or more robotic arms, the object, or a combination thereof; and A multi-sensor device is coupled to the object.

17. A method comprising: monitoring one or more parameters associated with the object by one or more measurement devices of the robot, the one or more measurement devices comprising a mechanical measurement device coupled to the robot and the object; as well as adjusting the posture of the robot based on the one or more parameters satisfying one or more criteria, Wherein the robot is mounted to a movable base.

18. The method according to claim 17, further comprising: outputting an alert based on the one or more parameters satisfying one or more second criteria; as well as A registration process associated with the object and the robot is performed based on the one or more parameters satisfying the one or more second criteria.

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