Systems and methods for monitoring and confirming surgical equipment stability

Abstract

A method according to at least one embodiment of the present disclosure includes receiving, from a sensor, position-related data, determining, based on the position-related data, an angle associated with a device is within a predetermined range, instructing a user to move the device, monitoring the position-related data, detecting, based on the position-related data, movement, in response to detecting movement, providing a first notification to the user, during a procedure, monitoring the position-related data, detecting, based on the position-related data, movement during the procedure, and in response to detecting movement during the procedure, one or more of halting a movement of the device, retracting the device, and providing a second notification to the user.

Description

SYSTEMS AND METHODS FOR MONITORING AND CONFIRMING SURGICALEQUIPMENT STABILITYBACKGROUND

[0001] The present disclosure is generally directed to surgical procedures and more particularly to monitoring and confirming the stability of surgical equipment.

[0002] Surgical robots, tool holding devices, and other surgical equipment may assist a surgeon or other medical provider in carrying out a surgical procedure or may complete one or more surgical procedures autonomously. For example, providing controllable linked articulating members allows a surgical robot to reach areas of a patient anatomy during various medical procedures. However, such equipment carries risks when accidentally bumped or moved during a procedure or when inadequately positioned prior to a procedure.BRIEF SUMMARY

[0003] Example aspects of the present disclosure include:

[0004] A method according to at least one embodiment of the present disclosure comprises: receiving, from a sensor, position-related data; determining, based on the position-related data, an angle associated with a device is within a predetermined range; instructing a user to move the device; monitoring the position-related data; detecting, based on the position-related data, movement; and in response to detecting movement, providing a notification to the user.

[0005] Any of the features herein, wherein the angle is associated with a base of a robotic arm.

[0006] Any of the features herein, wherein the angle is an angle of a base of the robotic arm.

[0007] Any of the features herein, wherein the predetermined range is within a degree of forty- five degrees.

[0008] Any of the features herein, wherein the sensor is one or more of an accelerometer, a gyroscope, and an inclinometer.

[0009] Any of the features herein, wherein instructing the user to move the device comprises displaying instructions on a graphical user interface.

[0010] Any of the features herein, wherein the notification to the user comprises instructions to stabilize the device.

[0011] Any of the features herein, wherein the device is a surgical robot.

[0012] A method, comprising: receiving, from a sensor, position-related data associated with a robotic device; during a procedure, monitoring the position-related data; detecting, based on the position-related data, movement during the procedure; and in response to detecting movement, one or more of halting a movement of the robotic device, retracting the robotic device, and providing a notification via a user interface device.

[0013] Any of the features herein, wherein detecting movement comprises detecting movement over a threshold amount.

[0014] Any of the features herein, wherein the sensor is mounted near a base of a robotic arm.

[0015] Any of the features herein, wherein after detecting movement, the robotic device requires a startup test to resume the procedure.

[0016] Any of the features herein, wherein providing the notification comprises displaying instructions on the user interface device.

[0017] Any of the features herein, wherein the notification comprises instructions to stabilize the robotic device.

[0018] Any of the features herein, wherein the notification comprises one or more of a visual and an audible notification.

[0019] Any of the features herein, wherein one or more of halting the movement of the robotic device, retracting the robotic device, and providing the notification is performed automatically by a processor in control of the robotic device.

[0020] Any of the features herein, including, prior to monitoring the position-related data, detecting the procedure.

[0021] A system, comprising: a processor; and a memory coupled to the processor and storing data thereon that, when executed by the processor, enable the processor to: receive, from a sensor, position-related data; determine, based on the position-related data, an angle associated with a device is within a predetermined range; instruct a user to move the device; monitor the position- related data; detect, based on the position-related data, movement; in response to detecting movement, provide a first notification to the user; during a procedure, monitor the position-related data; detect, based on the position-related data, movement during the procedure; and in response to detecting movement during the procedure, one or more of halting a movement of the device, retracting the device, and providing a second notification to the user.

[0022] A surgical system, comprising: a robot including a robotic arm; a processor coupled to at least one of the robot and the robotic arm; and a memory coupled to the processor and storing data thereon that, when executed by the processor, enable the processor to: receive, from a sensor, position-related data; determine, based on the position-related data, an angle associated with the robotic arm is within a predetermined range; instruct a user to move the robotic arm; monitor the position-related data; detect, based on the position-related data, movement; in response to detecting movement, provide a first notification to the user; during a procedure, monitor the position-related data; detect, based on the position-related data, movement during the procedure; and in response to detecting movement during the procedure, one or more of halting a movement of the robotic arm, retracting the robotic arm, and providing a second notification to the user.

[0023] Any aspect in combination with any one or more other aspects.

[0024] Any one or more of the features disclosed herein.

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

[0026] Any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein.

[0027] Any one of the aspects / features / embodiments in combination with any one or more other aspects / features / embodiments .

[0028] Use of any one or more of the aspects or features as disclosed herein.

[0029] It is to be appreciated that any feature described herein can be claimed in combination with any other feature(s) as described herein, regardless of whether the features come from the same described embodiment.

[0030] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.

[0031] The phrases “at least one”, “one or more”, and “and / or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and / or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. When each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as XI -Xn, Yl-Ym, and Zl-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., XI and X2) as well as a combination of elements selected from two or more classes (e.g., Y 1 and Zo).

[0032] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising”, “including”, and “having” can be used interchangeably.

[0033] The preceding is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. This summary is neither an extensive nor exhaustive overview of the disclosure and its various aspects, embodiments, and configurations. It is intended neither to identify key or critical elements of the disclosure nor to delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments, and configurations of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below.

[0034] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art upon consideration of the embodiment descriptions provided hereinbelow.BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0035] The accompanying drawings are incorporated into and form a part of the specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the disclosure. The drawings simply illustrate preferred and alternative examples of how the disclosure can be made and used and are not to be construed as limiting the disclosure to only the illustrated and described examples. Further features and advantages will become apparent from the following, more detailed, description of the various aspects, embodiments, and configurations of the disclosure, as illustrated by the drawings referenced below.

[0036] Fig. 1 is a block diagram of aspects of a system according to at least one embodiment of the present disclosure;

[0037] Fig. 2 is a diagram of a robotic device according to at least one embodiment of the present disclosure;

[0038] Fig. 3 is a diagram of a robotic device in an environment according to at least one embodiment of the present disclosure;

[0039] Fig. 4 is a flowchart according to at least one embodiment of the present disclosure; and

[0040] Fig. 5 is a flowchart according to at least one embodiment of the present disclosure.DETAILED DESCRIPTION

[0041] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, and / or may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the disclosed techniques according to different embodiments of the present disclosure). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0042] 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 code on a computer-readable medium and executed by a hardware-based processing unit. Alternatively, or additionally, functions may be implemented using machine learning models, neural networks, artificial neural networks, or combinations thereof (alone or in combination with instructions). Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0043] 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 Al l, A12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000-series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMDRadeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0044] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one or more examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure.

[0045] In procedures such as medical procedures or operations devices such as surgical robots require precise placement and stability. Robots, for example, may be used to perform surgical functions such as drilling in a patient’s vertebrae. Any incidental movement, whether due to a person bumping into a cart on which the robot is mounted or due to insecure footing on the floor, may cause extreme damage and / or discomfort to the patient. Because medical professionals participating in a procedure may be required to move around the operating room, a robot which moves when a person bumps into it is a liability. Also, robots with moveable robotic arms or other devices with moving parts may require stable placement on a floor. If such a robot or device is incorrectly set up, such as installed with one caster placed on a cable on the floor or a drain in the floor, the robot or device may be unstable and such an incorrect setup may be difficult or impossible to detect. Furthermore, devices such as robots with robotic arms may require a perfectly flat floor such that an angle of a base of the device or robotic arm may be required to be precisely or within a range of a particular angle. Users setting up the device or robot may be incapable of determiningwhether the angle of the device or robot is correct prior to an operation. For these reasons, systems and methods which enable users to confirm the stability and angle of a device or robot provide a great benefit over conventional devices or robots without the capability of enabling users to confirm the stability and angle. As described herein, systems and methods enable users to confirm the stability and angle of a device or robot.

[0046] In particular, embodiments of the present disclosure address the aforementioned issues by providing for confirmation of an angle associated with a device, a testing function to confirm stability of the device, and monitoring of the device for inadvertent movement during an operation. Embodiments of the present disclosure provide technical solutions to one or more of the problems of (1) incorrect or unstable positioning or angle of a surgical robot or other device and (2) inadvertent movement of a surgical robot or other device during a surgery or other procedure.

[0047] Turning first to Fig. 1, a block diagram of a system 100 according to at least one embodiment of the present disclosure is shown. The system 100 may be or comprise a surgical system in some cases. In some implementations, a robot 112 or robotic platform may be included in the system 100. While the description provided herein describes a robot 112 or robotic platform, it should be appreciated that the claimed systems and methods may not be limited to use with a robot 112 or robotic platform and that the same or similar systems and methods may be implemented in relation to other platforms and devices, such as O-arms and other medical devices.

[0048] The system 100 may be used to provide guidance in setting up and / or using a robot and / or components thereof before and / or during a procedure in accordance with one or more other aspects of one or more of the methods disclosed herein. The system 100 comprises a computing system 102 and a robot 112 or other type of device which may be used during a procedure. Systems according to other embodiments of the present disclosure may comprise more or fewer components than the system 100, such as an optional computing device 128 which may be used to communicate and / or control the computing system 102 and / or the robot 112. As another example, the system 100 may include one or more additional components of the computing system 102, a database, and / or a cloud network.

[0049] The computing system 102 comprises a processor 104, a memory 106, a communication interface 108, and a user interface 110. Computing devices according to other embodiments of the present disclosure may comprise more or fewer components than the computing system 102.

[0050] The processor 104 of the computing system 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, instructions which may cause the processor 104 to carry out one or more computing steps utilizing or based on data received from the robot 112, such as a sensor 118 or an input / output device 114 on the robot 112, from a computing device 128, and / or other components.

[0051] The processor 104 may be configured to execute one or more applications using data stored in memory 106 as described below. The memory 106 may store various forms of data, which may include, but is not limited to, application instructions, operational parameters, historical sensor data, and configuration settings. Such data may enable the processor 104 to process sensor data and execute applications as described herein.

[0052] For example, the processor 104 may be enabled to initiate a sensor processing application 120, an event detection application 122, an alert generation application 124, a test application 126, and / or other applications by accessing requisite data from the memory 106.

[0053] The sensor processing application 120 may be used by the processor 104 to analyze data from sensor(s) 118. For example, the sensor processing application 120 may comprise instructions which may be configured to cause the processor to perform actions such as receiving data from the sensor 118 and to process the data from the sensor 118.

[0054] The event detection application 122 may be used by the processor 104 to detect events based, at least in part, on data from sensor(s) 118. For example, the event detection application 122 may comprise instructions which may be configured to cause the processor to perform actions such as detecting an event based on processing of the data from the sensor 118. Events may include, for example, movement, a change in an angle, ceasing of movement, or other events which may be detectable based on data from the sensor 118.

[0055] The alert generation application 124 may be used by the processor 104 to issue alerts, such as via the user interface 110 or by communicating with a computing device 128 via the communication interface 108. For example, the alert generation application 124 may comprise instructions which may be configured to cause the processor to perform actions such as generating and transmitting alerts, such as in response to detected events.

[0056] The test application 126 may be used by the processor 104 to run one or more tests, such as described below. For example, the test application 126 may comprise instructions which maybe configured to cause the processor to perform actions such as performing a test as described herein, such as with regard to the method 400 illustrated in Fig. 4 and as described below.

[0057] The processor 104 may receive data emitted by the sensor 118. The processor 104 may execute predefined algorithms or operational logic designed to analyze received sensor data for indications of motion or positional changes. Based on sensor data, the processor 104 may be enabled to determine an angle of a base of the robotic arm 116 and / or to determine the presence or absence of movement. As described below, the processor 104 may utilize data from the sensor 118 to execute one or more methods and to provide a system capable of alerting users, such as medical professionals, of a dangerous situation relating to the use of the robot 112.

[0058] In some implementations, the processor 104 may control operations of the robot 112, such as movement of one or more robotic arms 116. The processor 104 may, for example, generate control signals and transmit control signals towards the robot 112. The robotic arms 116 may be manipulated and controlled by the processor 104 to execute tasks and movements. For example, the processor 104 may regulate motion trajectories, speed, and orientation of the robotic arms 116 to achieve operational outcomes. Control signals from the processor 104 may guide the articulation and positioning of the robotic arms 116 to fulfill specific tasks or objectives.

[0059] The memory 106 may be or comprise random access memory (RAM), dynamic random access memory (DRAM), synchronous 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 useful for completing, for example, any step of the methods 400 and / or 500 described herein, or of any other methods. The memory 106 may store, for example, instructions and / or machine learning models that support one or more functions of the robot 112. For instance, the memory 106 may store content (e.g., instructions and / or machine learning models) that, when executed by the processor 104, enable a sensor processing application 120, an event detection application 122, an alert generation application 124, and / or a testing application 126. Such content, if provided as in instruction may, in some embodiments, 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 carry out the various method and features described herein. Thus, although various contents of memory 106 may be described as instructions, it should beappreciated that functionality described herein can be achieved through use of instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions may cause the processor 104 to manipulate data stored in the memory 106 and / or received from or via the robot 112 and / or other sources.

[0060] The computing system 102 may also comprise a communication interface 108. The communication interface 108 may be used for receiving sensor data or other information from an external source (such as a sensor 118 of the robot 112), and / or for transmitting instructions or other information to an external system or device (e.g., another computing device 128, the robot 112, and / or any other system or component which are not part of the system 100). The communication interface 108 may comprise 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, for example, to transmit and / or receive information via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, and so forth). In some embodiments, the communication interface 108 may be useful for enabling the computing system 102 to communicate with one or more other processors 104 or computing devices 128, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.

[0061] The computing system 102 may also comprise one or more user interfaces 110. The user interface 110 may be or comprise a keyboard, mouse, trackball, monitor, television, screen, touchscreen, 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 regarding any step of any method described herein. Notwithstanding the foregoing, any required input for any step of any method described herein may be generated automatically by the system 100 (e.g., by the processor 104 or another component of the system 100) or received by the system 100 from a source external to the system 100. In some embodiments, the user interface 110 may be useful to allow a surgeon or other user to modify instructions to be executed by the processor 104 according to one or more embodiments of the present disclosure, and / or to modify or adjust a setting of other information displayed on the user interface 110 or corresponding thereto.

[0062] In at least one implementation, a user interface 110 may be configured to facilitate user notifications. The user interface 110 may be enabled to provide sounds and visual presentation of messages. The user interface 110 may be capable of providing a spectrum of message types. Forexample, messages displayed by the user interface 110 may encompass warnings to alert a user to potential issues which may necessitate the user’s attention. The user interface 110 may also be capable of presenting instructions through visual and / or auditory messages. Such instructional messages may be used to guide the user’s actions, decisions, or interactions in accordance with various aspects of the systems and methods provided herein. Auditory functionality of the user interface 110 may be useful for capturing attention of users to provide warnings and / or instructions.

[0063] In at least one implementation, a user interface 110 may be capable of receiving and processing input provided by a user. The user interface 110 may be strategically positioned to facilitate a dynamic exchange of information and commands between the user and the computing system 102. As described herein, a user may be enabled to interact with the user interface 110 to provide data and instruct the computing system 102 to perform tasks.

[0064] The user interface 110 may be used in relation to one or more of the alert generation application 124, the event detection application 122, and the test application 126, as well as other systems and methods described herein.

[0065] Although the user interface 110 is shown as part of the computing system 102, in some embodiments, the computing system 102 may utilize a user interface 110 that is housed separately from one or more remaining components of the computing system 102. In some embodiments, the user interface 110 may be located proximate one or more other components of the computing system 102, while in other embodiments, the user interface 110 may be located remotely from one or more other components of the computer system 102.

[0066] In one or more implementations, the computing system 102 may communicate with other computing devices such as a computing device 128. Computing device 128 may comprise one or more of a personal computer (PC), laptop, smartphone, or other system capable of sending and receiving data from the computing system 102. For example, a user may interact with a computing device 128 to instruct the computing system 102 to perform tasks and / or to provide and / or receive information to and from the computing system 102 during performance, by the computing system 102, of one or more of the methods described herein.

[0067] The robot 112 may be any surgical robot or surgical robotic system. The robot 112 may be or comprise, for example, a Mazor X™ Stealth Edition robotic guidance system or any successor thereof. The robot 112 may be configured to position robotic arm 116 at one or more precise position(s) and orientation(s), and / or to return the robotic arm 116 to the same position(s) andorientation(s) at a later point in time. The robot 112 may additionally or alternatively be configured to manipulate a surgical tool to accomplish or to assist with a surgical task using the robotic arm 116. In some embodiments, the robot 112 may be configured to hold and / or manipulate an anatomical element using the robotic arm 116 during or in connection with a surgical procedure. In some embodiments, the robotic arm 116 may comprise a first robotic arm and a second robotic arm, though the robot 112 may comprise more than two robotic arms. In some embodiments, one or more of the robotic arms 116 may be used to hold and / or maneuver an imaging device. In embodiments one robotic arm 116 may hold one component, and another robotic arm 116 may hold another component. Each robotic arm 116 may be positionable independently of the other robotic arm. The robotic arms 116 may be controlled in a single, shared coordinate space, or in separate coordinate spaces.

[0068] The robot 112, together with the robotic arm 116, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Further, the robotic arm 116 may be positioned or positionable in any pose, plane, and / or focal point. The pose includes a position and an orientation. As a result, a surgical tool, or other object held by the robot 112 (or, more specifically, by the robotic arm 116) may be precisely positionable in one or more needed and specific positions and orientations.

[0069] In at least one implementation, a robotic arm 116 may be affixed to a base 214 of the robot 112 as illustrated in Fig. 2. In at least some implementations, the base 214 may be a plate that is a part of a chassis of the robot cart 202. The robotic arm 116 may be assembled and fixed to the base 214. The base may be positioned on a top surface of a body of the robot 112 or on a robot cart 202. The base may serve as a foundational platform facilitating the mounting and operational stability of the robotic arm 116. While the robotic arm 116 may move during a procedure, the base 214 may be expected to remain still.

[0070] In some implementations, the robotic arm 116 may necessitate that the base 214 be oriented at a particular angle, such as forty-five degrees, to ensure proper reachability of the robotic arm 116 to achieve effective performance and execution of tasks. This angular alignment may be crucial in some scenarios as the angle may influence the range of motion, positioning accuracy, and interaction of the robotic arm 116 with surrounding environment or objects. For this reason, the angle of the base 214 and the stillness of the base 214 may be vital to the accuracy and performance of the robotic arm 116. In some implementations, an adaptor may be used to movethe base 214 of the robotic arm 116 up, down, right, left, or otherwise to achieve a target reachability for a particular application.

[0071] One or more sensors 118 may be installed or mounted on or near the base 214 of the robotic arm 116, near the point where the robotic arm 116 mounts to the robotic platform. By being positioned on or near the base 214, the sensor(s) 118 may be enabled to sense an angle of the base 214 and to sense any movement of the base 214.

[0072] Such sensors may be capable of ascertaining angles and / or detecting movement. Such sensors may include, for example, accelerometers, gyroscopes, inclinometers, magnetometers, optical sensors, ultrasonic sensors, LiDAR sensors, capacitive sensors, Hall-effect sensors, pressure sensors, temperature sensors, inertial measurement units, and / or any other type of sensor capable of determining an angle and / or detecting movement.

[0073] An accelerometer may be used to measure a differential acceleration due to gravity and operational movements enables the sensor to meticulously track inclination and motion trajectories. A gyroscope may be used to measure a rate of rotation around an axis and detect angular changes and / or rotational movements. An inclinometer, tilt sensor, or clinometer may be used to measure an angular tilt or inclination with respect to the gravitational axis.

[0074] As should be appreciated, any one or more types of sensors may be used. In some implementations, a combination of different sensors may be used. For example, an accelerometer and an inclinometer may be used in combination to determine an angle and detect movement.

[0075] The angle determined using the sensor may be an absolute slope of the base 214 on which the robotic arm 116 is mounted. Depending on the specific type of robotic platform in use, different angles of bases 214 may be required. In some scenarios, the base 214 may be required to be at 45 degrees, 90 degrees, or parallel to the floor. The base 214 may also be required to be within a particular range of the required angle. For example, the base 214 may be required to be within 0.1 degrees of the required angle. In some implementations, a high-precision sensor with a resolution up to, for example, 0.001 degrees or better may be used. By determining the angle of the base using sensor data, a system as described herein may be useful for ensuring the robotic platform is correctly set up prior to an operation.

[0076] As an example, a PositiltTM PTM27 inclination high-precision sensor with robust, compact plastic housing may be mounted to a plate on the base 214 of the robotic platform. The sensor may include a measurement range up to plus and minus 180 degrees with a resolution up to0.001 degrees. The sensor may offer protection class IP67, longitudinal water barrier, potted electronics, wear-free MEMS technology, and shock resistance.

[0077] In an implementation, a sensor may be positioned to detect various forms of motion and / or acceleration. The sensor may output data representing perceived movements or vibrations. For example, a sensor may respond to forces of acceleration and orientations and may capture such motions as data in a format suitable for computational analysis. The sensor may output data signals which may be handled by a processor 104 of a computing system 102 as described below.

[0078] In some implementations, sensor data may be dispatched to a computing system via various communication modalities. For example, a wired connection may be established between the sensor 118 and the processor 104. In certain implementations, data generated by the sensor 118 may be transmitted through a bus, such as a controller area network (CAN) bus. The sensor 118, upon detecting motion or acceleration, may produce data which may be suitably formatted and relayed through the bus. The bus may serve as a conduit facilitating communication of data between the sensor and a processor 104 as described below. In another instance, a wireless connection may be utilized between the sensor 118 and the processor 104. A wireless connection may employ various protocols and frequencies to provide the sensor data to the processor 104.

[0079] The sensor 118 may provide real time data of the absolute slope of the arm base to the processor 104 of the computing system 102 which can then read and analyze the sensor data and determine if the robot 112 is rocking or is stable enough under a threshold for a range of inclinations during a test as described below.

[0080] Data from the sensor 118 may be sent to the processor 104 through one or more input / output devices 114. Such input / output devices 114 may be configured to facilitate the transmission of sensor data to the processor 104. The input / output devices 114 may employ various protocols to enable a communication link between the sensor 118 and the processor 104, allowing for the exchange of data necessary for performing methods as described herein. In some implementations, the sensor 118 may also be capable of receiving control signals from the processor 104 or other devices via input / output devices 114. For example, input / output devices 114 may be used to adjust operational parameters and / or behaviors of the sensor 118 through instructions from the processor 104.

[0081] The system 100 or similar systems may be used, for example, to carry out one or more aspects of any of the methods 400 and 500 as described herein. The system 100 or similar systems may also be used for other purposes.

[0082] A robot 112 as described above, as illustrated in Fig. 2, may include a robotic arm 116 mounted to a base 214. The base 214 may be on a top portion of a robot cart 202 of the robot 112. For example, one or more different types of tools may be interchangeably connected to the robotic arm 116. In some implementations, the robotic arm 116 may include a tool changing module configured to mate with different types of tools which may be useful during a medical operation or other type of procedure. For example, a bone removal unit may be attached to the robotic arm 116 as an end effector.

[0083] The distal-most point of the robotic arm 116, or the distal-most point of a tool mounted to the robotic arm 116, may be referred to as the tool center point (TCP) 218 of the robotic arm 116. The TCP 218 may in some implementations be the point of interest in terms of system rigidity / accuracy. Because the TCP 218 may reflect a position of a tool used for operations which rely on precise accuracy, keeping the TCP 218 still when the robotic arm 116 is not being purposely moved may be imperative to operating the tool during a procedure. Any movement of the base 214 may be assumed to affect the TCP 218. For this reason, placing the sensor 118 on or near the base 214 may enable the sensor 118 to detect when movements affecting the TCP 218 may jeopardize operation of the robotic arm 116.

[0084] Also, in some implementations, as described above, the robot 112 must be on a level ground such that the robotic arm 116 extends from the robot cart 202 of the robot 112 at a precise angle. The sensor 118 may be capable of determining whether the robot cart 202 is level or whether the base 214 is at a particular angle.

[0085] The sensor 118 may be located in some implementations on an inner side of a plate or base 214 on which the robotic arm is mounted, though in other implementations, the sensor 118 may be placed elsewhere within or on the robot 112.

[0086] The robot 112 may in some implementations include one or more casters 210. Each caster 210 may include a wheel and may be capable of swiveling on an axis. The casters 210 may be used to enable the robot 112 to be maneuvered and positioned across various surfaces. The casters 210 may enable the robot 112 to be wheeled about an environment 300 such as an examination room as illustrated in Fig. 3.

[0087] The robot 112 may also in some implementations include a stabilizing system consisting of either actuators 212, as illustrated in Fig. 2, capable of slightly lifting the cart off of the floor, or a central locking mechanism that locks each of the casters 210 in both degrees of freedom (rotation of the wheels and swiveling of an axis of each caster). The stabilizing system may be enabled to selectively elevate the robot 112 off the floor or secure each of the caster wheels, thereby impeding both rotational and swiveling motions.

[0088] In some implementations, activation of the stabilizing system may cause the casters 210 to be retracted, resulting in the robot 112 resting on legs, or may cause actuators 212 to extend, resulting in the rest of the robot 112, including the casters 210, elevating off the floor. In some implementations, the stabilization system may exert control to lock all caster wheels, limiting their functional degrees of freedom. By doing so, the wheels may be restrained from both rotational and swiveling movements, ensuring that the cart maintains stationary and stable.

[0089] The robot 112 may be on or include a robot cart 202 or may include a body which may contain components such as a computing system 102. While a robot cart 202 is described herein, it should be appreciated that the systems and methods described herein may be used in relation to a robot 112 on a robot cart 202 or a robot 112 which is self-contained and resting on the floor or another surface. The robot cart 202 may physically support the base 214, the robotic arm 116, input / output device(s) 114, and / or other components. In some implementations, the robot cart 202 may contain a computing system 102 and / or other components, though in some implementations, such as illustrated in Fig. 3, the computing system 102 may be placed outside the robot 112 and may communicate with the robot 112 via a wired or wireless connection.

[0090] As illustrated in Fig. 3, the robot 112 may be used in an environment 300, such as an operating room or other facility for performing medical procedures, in which a patient 302 on a bed 304 is operated upon or examined by the robot 112. A computing system 102 may be enabled to communicate with the robot 112 and / or read sensor data from a sensor 118 mounted to or in the robot 112. The computing system 102 may connect to the sensor 118 via a wired or a wireless connection.

[0091] The robot 112 as well as the bed 304 holding the patient 302 may be on a floor 306. While floors 306 of rooms such as operating rooms may be expected to be smooth and flat, in some scenarios a floor 306 may include features such as drains which may cause the robot 112 to be unbalanced and / or unstable. Similarly, a floor 306 may be cluttered with objects such as cables.It may be possible for one or more casters or feet of the robot 112 to be on a different plane from one or more other casters or feet of the robot 112, causing the robot 112 to be off-balance and / or unstable. For this reason, a system as described herein may enable users of the robot 112 to confirm balance and / or stability of the robot 112 before and / or during user of the robot 112.

[0092] The patient 302 may be positioned on the bed 304. The bed 304 may be any operating bed or table configured to support a patient during a surgical procedure. The bed 304 may include any accessories mounted to or otherwise coupled to the bed 304 such as, for example, a bed rail, a bed rail adaptor, an arm rest, an extender, or the like. The bed 304 may be stationary or may be operable to maneuver the patient 302, e.g., the bed 304 may be able to move.

[0093] The robot 112 and / or components thereof such as the robotic arm 116 may be positioned on or may include a robot cart 202. The robot cart 202 as described above may be a mobile platform that enables the robot 112 to be positioned relative to the bed 304. In some embodiments, the robot cart 202 may comprise wheels that enable the robot cart 202 to roll or move relative to the bed 304. The robot cart 202 may be detachable from the wheels or the wheels may be lockable such that, once the robot cart 216 is positioned in a desired location relative to the bed 304 and / or the patient 302, the robot cart 216 may remain in the desired location. In other words, the robot cart 216 may have a mechanism that enables the robot cart 216 to remain fixed relative to the bed 304. The mechanism may better ensure that the robot 112 and / or any other components on the robot cart 216 do not move relative to the bed 304 due to the mobility of the robot cart 216 once the robot cart 216 has been positioned in the desired location.

[0094] Fig. 4 depicts a method 400 that may be used, for example, to provide a system startup test to ensure a robot 112 is stable and a base of a robotic arm 116 is at a proper angle. Fig. 5 depicts a method 500 that may be used, for example, to monitor motion of robot 112 during a procedure to alert users to any undesirable motion and / or to mitigate or prevent any damage to a patient or others in the event of any undesirable motion.

[0095] The methods 400 and 500 (and / or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) 104 of the computing system 102 described above. The at least one processor may be part of a robot (such as a robot 112) or part of a separate computing system 102 or device 128. A processor other than any processor described herein may also be used to execute the method 400 and / or the method 500. The at least one processor may perform themethods 400 and 500 by executing elements stored in a memory such as the memory 106. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in methods 400 and 500. One or more portions of methods 400 and 500 may be performed by the processor executing any of the contents of memory, such as a sensor processing application 120, an event detection application 122, an alert generation application 124, and / or a test application 126.

[0096] As illustrated in Fig. 4, systems described herein may be used to perform a system startup test using, for example, a method 400. The method 400 may be performed by a processor 104 of a computing system 102 in communication with a sensor 118 of a robot 112 as illustrated in Fig. 1. As described above, the sensor 118 may be an inclinometer or other type of sensor capable of detecting movement and / or angles. In some implementations, multiple sensors may be used, such as a first sensor to determine an angle and a second sensor to detect motion.

[0097] The method 400 may begin at 402 with the processor executing a test application 126 stored in memory 106 of the computing system. In some implementations, the test application 126 may be executed automatically, such as upon the robot 112 or the computing system 102 being powered on, or in response to a user interacting with the computing system 102 and / or the robot 112. In some implementations, the method 400 may be required to be performed prior to the robot 112 being used to complete an operation. For example, the robot 112 may be activated following a successful execution of the method 400.

[0098] At 404, the processor 104 may read data from the sensor 118 to determine an angle measurement. The processor 104 may be configured to read sensor data constantly or periodically. For example, the processor 104 may take sensor readings at a particular interval or may make a single reading at the beginning of the method 400. In some implementations, the computing device may power on, enable, or provide power to the sensor prior to reading the sensor data. In some implementations, the robot 112 may include a memory device which may store sensor data to be read by the processor 104.

[0099] Determining the angle measurement may include comparing the angle with one or more values and / or thresholds. For example, the robot 112 may be calibrated to a particular angle, e.g., 0, 45, 90, etc., degrees. In some implementations an allowable degree of error or freedom may be used, such as 0.1 degrees. Determining the angle measurement may include determining the angle is within the allowable degree of error of the particular angle at which the robot 112 is calibrated.

[0100] At 406, a determination may be made by the processor as to whether the angle is correct. If the angle is not correct, e.g., not within the allowable degree of error of the particular angle at which the robot 112 is calibrated, the method 400 may include, at 408, notifying a user and stopping the test.

[0101] Notifying the user may include generating and displaying a prompt on a user interface. The prompt may describe the angle as being incorrect and may include instructions to the user, such as instructing the user to check to ensure the robot 112 is on solid ground. In some implementations, the method 400 may include waiting at 406 until the angle is correct.

[0102] If the angle is correct, e.g., within the allowable degree of error of the particular angle at which the robot 112 is calibrated, the method 400 may proceed to 410, at which point the processor may instruct a user to move the robot 112. Such movement may include, for example, the user leaning on the robot 112 or the robot base 214, applying a vertical force, etc. Instructing the user to move the robot 112 may include generating and / or displaying graphical user interface prompts on a display device or otherwise providing intelligible instructions to the user.

[0103] In some implementations, instead of or in addition to instructing a user to move the robot 112, the processor 104 may control the robotic arm 116 or another moveable part of the robot 112 to alter a center of gravity of the robot 112. In other implementations the processor 104 may control actuators 212 to attempt to move the robot 112 by exerting a small force and monitoring for movement as described below, for example if rocking occurs as a result of the force of the actuators 212 or as a result of force applied by a user. In effect, the processor 104 may attempt to, without requiring human interaction, move the base of the robot 112 on which the robotic arm 116 is mounted. If the base moves during the testing function, the processor 104 can alert a user that the robot 112 is inadequately setup.

[0104] At 412, the processor 104 may check for movement. Checking for movement may involve waiting a period of time, e.g., 10 seconds, for movement to be detected. In some implementations, checking for movement may involve waiting for confirmation from a user that the user attempted to move the robot. In other implementations, checking for movement may involve waiting for a movement routine, such as a routine in which the processor 104 moves the robotic arm 116 automatically in attempt to move the robot 112, to complete. In some implementations, any detectable movement may cause the test to fail, while in other implementations only movement over a predetermined threshold may cause the test to fail.

[0105] If movement is detected, the processor may, at 414, alert the user and end the test or return to an earlier step of the method 400. Alerting the user may include generating and providing a notification to the user. Such a notification may include a recommendation or instruction to stabilize the robot 112. Issuing the notification may involve displaying the notification on a display device, playing an audible noise, or otherwise providing an intelligible notification which may instruct the user to stabilize the robot 112.

[0106] By asking a user to move the robot 112 and checking for movement based on sensor data, the computing system 102 may be enabled to determine whether the robot 112 is properly stable and that any accidental contact with the robot 112 will not jeopardize the health and safety of a patient or others during a procedure.

[0107] If no movement is detected, the processor 104 may, at 416, authorize beginning an operation or a use of the robot 112. Upon the processor 104 authorizing beginning the operation or use of the robot 112, the robot may be used to perform an operation or procedure. During the operation or procedure, a monitoring method, such as the method 500 described below may be performed by the processor 104.

[0108] As illustrated in Fig. 5, the systems described herein may be enabled to perform a method 500 of a safe operating environment by monitoring movement of a sensor 118 on or in contact with a robot 112 and, upon detecting movement, freezing or retracting a robotic arm 116 of the robot 112.

[0109] The method 500 may begin at 502, with a processor 104 of a computing system 102 determining an operation, or other type of procedure, has begun. Determining the operation has begun may be performed by the processor 104 automatically, such as by detecting usage of a robot 112, or manually, such as based on user input or user interaction with the computing system 102.

[0110] At 504, the processor 104 may monitor data from a sensor 118 of, or associated with, a robot 112 for movement and change in angle. For example, during a procedure, the processor 104 may be used to ascertain whether a base of a robotic arm 116 has moved. Because movement of the base of the robotic arm 116 may affect the tip of the robotic arm 116 and thus the accuracy of any tool held by the robotic arm 116, detecting such movement provides a highly beneficial feature during a procedure.

[0111] The processor 104 may read the sensor data constantly or periodically. For example, the processor 104 may poll the sensor 118 for new data and may process the data to determine whetherany change has occurred. At 506, a determination may be made as to whether movement has occurred.

[0112] In some implementations, determining whether movement has occurred may be based on a threshold. For example, some change in data from the sensor 118 may be allowed to occur without prompting a movement decision. In such an implementation, the processor 104 may be enabled to compare sensor data with one or more thresholds and to determine whether the movement exceeded a particular threshold.

[0113] If, at 506, movement is detected, the method 500 may involve freezing or retracting the robotic arm 116 at 510. For example, the processor 104 may be enabled to control the robotic arm 116 or to instruct another computing system controlling the robotic arm 116 to end the current procedure as quickly and safely as possible to avoid and / or mitigate any potential harm to a patient.

[0114] At 512, after or in parallel with attempting to mitigate or avoid potential harm, the processor 104 may notify a user of the movement by generating and transmitting a notification. Such a notification may include a recommendation or instruction to stabilize the robot 112. Issuing the notification may involve displaying the notification on a display device, playing an audible noise, or otherwise providing an intelligible notification which may instruct the user to stabilize the robot 112.

[0115] At 514, the processor 104 may prompt, require, or automatically perform a system startup test such as the method 400 described above. As a result of detected movement during a procedure, the robotic arm 116 may be stopped, users may be notified, and the robot 112 may require a system startup test before continuing the procedure.

[0116] If on the other hand no movement is detected at 506, a determination may be made at 508 as to whether the operation has been completed or should continue. If the operation should continue, the method 500 may involve returning to the monitoring at 504. If the operation should end, the method 500 may proceed to 516 and the monitoring of the sensor data may end.

[0117] The present disclosure encompasses embodiments of the methods 400 and 500 that comprise more or fewer steps than those described above, and / or one or more steps that are different than the steps described above.

[0118] As noted above, the present disclosure encompasses methods with fewer than all of the steps identified in Figs. 4 and 5 (and the corresponding description of the methods 400 and 500), as well as methods that include additional steps beyond those identified in Figs. 4 and 5 (and thecorresponding description of the methods 400 and 500). The present disclosure also encompasses methods that comprise 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 comprise a registration or any other correlation.

[0119] The following provides non-limiting examples to various embodiments.

[0120] Example 1. A method comprising receiving, from a sensor, position-related data; determining, based on the position-related data, an angle associated with a device is within a predetermined range; instructing a user to move the device; monitoring the position-related data; detecting movement based on the position-related data; and in response to detecting movement, providing a notification to the user.

[0121] Example 2. The method of example 1, wherein the angle is associated with a base of a robotic arm.

[0122] Example 3. The method of example 1 or 2, wherein the angle is an angle of a base of the robotic arm.

[0123] Example 4. The method of any one of examples 1-3, wherein the predetermined range is within a degree of forty-five degrees.

[0124] Example 5. The method of any one of examples 1-4, wherein the sensor is one or more of an accelerometer, a gyroscope, and an inclinometer.

[0125] Example 6. The method of any one of examples 1-5, wherein instructing the user to move the device comprises displaying instructions on a graphical user interface.

[0126] Example 7. The method of any one of examples 1-6, wherein the notification to the user comprises instructions to stabilize the device.

[0127] Example 8. The method of any one of examples 1-7, wherein the device is a surgical robot.

[0128] Example 9. The method of any one of examples 1-8, wherein the notification to the user comprises one or more of a visual and an audible notification.

[0129] Example 10. A method comprising receiving, from a sensor, position-related data associated with a robotic device; during a procedure, monitoring the position-related data; detecting, based on the position-related data, movement during the procedure; and in response to detecting movement, one or more of halting a movement of the robotic device, retracting the robotic device, and providing a notification via a user interface device.

[0130] Example 11. The method of example 10, wherein the sensor is mounted near a base of a robotic arm.

[0131] Example 12. The method of example 10 or 11, wherein the detecting of the movement comprises detecting movement over a threshold amount.

[0132] Example 13. The method of any one of examples 10-12, wherein after detecting movement, the robotic device requires a startup test to resume the procedure.

[0133] Example 14. The method of any one of examples 10-13, wherein providing the notification comprises displaying instructions on the user interface device.

[0134] Example 15. The method of example 14, wherein the notification comprises instructions to stabilize the robotic device.

[0135] Example 16. The method of any one of examples 10-15, wherein the notification comprises one or more of a visual and an audible notification.

[0136] Example 17. The method of any one of examples 10-16, wherein one or more of halting the movement of the robotic device, retracting the robotic device, and providing the notification is performed automatically by a processor in control of the robotic device.

[0137] Example 18. The method of any one of examples 10-17, further comprising, prior to monitoring the position-related data, detecting the procedure.

[0138] Example 19. A system comprising: a processor; and a memory coupled to the processor and storing data thereon that, when executed by the processor, enable the processor to: receive, from a sensor, position-related data; determine, based on the position-related data, an angle associated with a device is within a predetermined range; instruct a user to move the device; monitor the position-related data; detect, based on the position-related data, movement; in response to detecting movement, provide a first notification to the user; during a procedure, monitor the position-related data; detect, based on the position-related data, movement during the procedure; and in response to detecting movement during the procedure, one or more of halt a movement of the device, retract the device, and provide a second notification to the user.

[0139] Example 20. The system of example 19, wherein the angle is associated with a base of a robotic arm.

[0140] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose ofstreamlining the disclosure. The features of the aspects, embodiments, and / or configurations of the disclosure may be combined in alternate aspects, embodiments, and / or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and / or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0141] Moreover, though the foregoing has included description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and / or configurations to the extent permitted, including alternate, interchangeable and / or equivalent structures, functions, ranges, or steps to those claimed, whether or not such alternate, interchangeable and / or equivalent structures, functions, ranges, or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

Claims

CLAIMSWhat is claimed is:

1. A method (402), comprising: receiving, from a sensor 118, position-related data (404); determining, based on the position-related data, an angle associated with a device (112) is within a predetermined range (406); instructing a user to move the device (410); monitoring the position-related data; detecting, based on the position-related data, movement (412); and in response to detecting movement, providing a notification to the user (414).

2. The method of claim 1, wherein the angle is associated with a base (214) of a robotic arm (116).

3. The method of claim 1 or 2, wherein the angle is a base of the robotic arm.

4. The method of any one or more of claims 1 to 3, wherein the predetermined range is within a degree of forty-five degrees.

5. The method of any one or more of claims 1 to 4, wherein the sensor is one or more of an accelerometer, a gyroscope, and an inclinometer.

6. The method of any one or more of claims 1 to 5, wherein instructing the user to move the device comprises displaying instructions on a graphical user interface (110).

7. The method of any one or more of claims 1 to 6, wherein the notification to the user comprises instructions to stabilize the device.

8. The method of any one or more of claims 1 to 7, wherein the device is a surgical robot (112).

9. The method of any one or more of claims 1 to 7, wherein the notification to the user comprises one or more of a visual and an audible notification.

10. A method (500), comprising: receiving, from a sensor (118), position-related data associated with a robotic device (116); during a procedure, monitoring the position-related data (504); detecting, based on the position-related data, movement during the procedure (506); andin response to detecting movement, one or more of halting a movement of the robotic device, retracting the robotic device (512), and providing a notification via a user interface device (110).

11. The method of claim 10, wherein the sensor is mounted near a base (214) of a robotic arm (116).

12. The method of claim 10 or 11, wherein detecting movement comprises detecting movement over a threshold amount.

13. The method of any one or more of claims 10 to 12, wherein after detecting movement, the robotic device requires a startup test to resume the procedure.

14. The method of any one or more of claims 10 to 13, wherein providing the notification comprises displaying instructions on the user interface device.

15. A surgical system (100), comprising: a robot (112) including a robotic arm (116); a processor (104) coupled to at least one of the robot and the robotic arm; and a memory (106) coupled to the processor and storing data thereon that, when executed by the processor, enable the processor to: receive, from a sensor (118), position-related data (404); determine, based on the position-related data, an angle associated with the robotic arm is within a predetermined range (406); instruct a user to move the robotic arm (410); monitor the position-related data; detect, based on the position-related data, movement (412); in response to detecting movement, provide a first notification to the user (414); during a procedure, monitor the position-related data (504); detect, based on the position-related data, movement during the procedure(506); and in response to detecting movement during the procedure, one or more of halting a movement of the robotic arm, retracting the robotic arm (512), and providing a second notification to the user.

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