SYSTEM AND METHOD FOR MOTION CAPTURE AND CONTROLLING A ROBOTIC TOOL

Abstract

System and methods for controlling a robotic medical tool are provided. The system includes the robotic medical tool, a motion capture device, and a controller. The motion capture device is configured to capture a motion of an object. The controller is configured to adjust the robotic tool relative to the object as a function of the captured motion.

Claims

1. A system for controlling a robotic medical tool, the system comprising: the robotic medical tool; a motion capture device configured to capture a motion of an object; and a controller configured to adjust the robotic medical tool relative to the object based on the captured motion.

2. The system of claim 1, wherein the motion capture device is an ultrasound device.

3. The system of claim 2, wherein the motion capture device is further configured to determine a main plane, a direction, or the main plane and the direction of the motion of the object, and wherein the motion capture device is arranged to capture the motion of the object in the main plane, the direction, or the main plane and the direction of the motion of the object.

4. The system of claim 2, wherein the motion capture device is configured to capture the motion in three dimensions.

5. The system of claim 2, wherein the ultrasound device comprises at least two ultrasound heads.

6. The system of claim 2, wherein the system is configured to scan the object and to then register the robotic medical tool to a coordinate system of the scan.

7. The system of claim 6, wherein the system is configured to scan the object with the ultrasound device.

8. The system of claim 1, further comprising: an X-ray apparatus configured to scan the object.

9. The system of claim 2, wherein the motion capture device is arranged so that a main detection direction of the motion capture device extends substantially perpendicular to a central axis of a cone of operation of the medical robotic tool.

10. The system of claim 2, wherein at least one ultrasound head of the ultrasound device is integrated within the robotic tool.

11. A method for controlling a robotic medical tool, the method comprising: capturing, by an ultrasound device, a motion of an object; and adjusting, by a controller, the robotic medical tool relative to the object based on the captured motion.

12. The method of claim 11, further comprising: determining a main plane, a direction, or the main plane and the direction of the motion, wherein capturing, by the ultrasound device, the motion of the object comprises capturing, by the ultrasound device, the motion of the object in the main plane, the direction, or the main plane and the direction.

13. The method of claim 11, wherein the motion is captured in three dimensions.

14. The method of claim 11, wherein the ultrasound device comprises at least two ultrasound heads.

15. The method of claim 11, further comprising: scanning, by the ultrasound device, the object; and registering the robotic medical tool to a coordinate system of the scan.

16. The method of claim 11, wherein the ultrasound device is arranged so that a main detection direction of the ultrasound device extends substantially perpendicular to a central axis of a cone of operation of the robotic medical tool.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0025] FIG. 1 depicts a schematic perspective view of a system engaged in manipulating a patient according to an embodiment.

DETAILED DESCRIPTION

[0026] FIG. 1 depicts a schematic view of an operating table 1 on which a patient 2 is positioned. FIG. 1 further depicts a system 3 including a robotic tool 4, an ultrasound device 5, and a control unit 6. The control unit 6 is configured to at least partially control the robotic tool 4 and the ultrasound device 5 and is connected to the robotic tool 4 as well as to the ultrasound device 5 via respective data links or cables. The control unit 6 may alternatively be part of or integrated in the robotic tool 4 and/or the ultrasound device 5.

[0027] The robotic tool 4 includes a member or arm with segments 7. The segments 7 are connected through joints 8. The arrangement of the segments 7 and the joints 8 allows complex movements around at least three axes. The segment 7 furthest from a main body of the robotic tool may be a tool head 9 that may include or carry different kinds of types of tools. The tool head 9 or, e.g. a distal end of the tool head 9, is configured for manipulation of or interaction with objects. The manipulated object is the patient 2 or a part thereof, for example, a region of interest (ROI) 10 of the patient. The ROI 10 may for example be or include a spine or a specific vertebra of the patient 2.

[0028] The ROI 10 may be considered as a point of origin of a cone of operation of the robotic tool 4. The cone of operation describes a volume of space in which the tool head 9 may move or be positioned while maintaining its contact with the ROI 10. For illustrative purposes, the cone of operation is indicated by two reference lines 11 and a central axis 12. Depending on the situation the cone of operation may not actually be cone-shaped.

[0029] A precise control and positioning of the tool head 9 relative to the patient 2 or the ROI 10 is used in many applications of the robotic tool 4. For example, in robot assisted spine surgery, where the robotic tool 4 supports a surgeon to place screws into a vertebra of the patient 2, the screw path is precisely controlled to achieve the intended purpose and prevent injury of the patient 2. Therefore, any motion or movement of the ROI 10 is detected and captured by the ultrasound device 5.

[0030] An ultrasound head 13 of the ultrasound device 5 is placed in contact with the patient 2. The ultrasound device 5 and the ultrasound head 13 are disposed lateral to the patient 2, for example, on a different side of the patient 2 than the ROI 10 and the tool head 9. A main detection direction 14 of the ultrasound device 5 extends substantially perpendicular to the central axis 12 of the cone of operation of the robotic tool 4 or the tool head 9. The ultrasound device 5 may, for example, detect bone material of the patient 2, for example, in the ROI 10. The ultrasound device 5 may capture and track a motion of the bone material and by extension of the patient 2.

[0031] The captured motion is put in relation to the current position and/or motion of the tool head 9. The robotic tool 4 and the ultrasound device 5 may be registered to one another. An X-ray apparatus (not shown) may be registered to the same frame of reference too.

[0032] The motion of the patient 2 and/or the ROI 10 captured by the ultrasound device 5, or corresponding sensor data, may be transmitted to the control unit 6. The control unit 6 processes the data received from the ultrasound device 5 and generates corresponding control signals or commands The commands are sent to the robotic tool 4 to position and/or move the tool head 9 accordingly. The robotic tool, for example, the tool head 9, is controlled, e.g. positioned and/or moved, in dependence of the motion of the patient 2 and/or the ROI 10 captured by the ultrasound device 5. The ultrasound provides live adjustments of the robotic tool 4 during operation.

[0033] It is to be understood that the elements and features recited in the appended claims may be combined in different ways to produce new claims that likewise fall within the scope of the present invention. Thus, whereas the dependent claims appended below depend from only a single independent or dependent claim, it is to be understood that these dependent claims may, alternatively, be made to depend in the alternative from any preceding or following claim, whether independent or dependent, and that such new combinations are to be understood as forming a part of the present specification.

[0034] While the present invention has been described above by reference to various embodiments, it may be understood that many changes and modifications may be made to the described embodiments. It is therefore intended that the foregoing description be regarded as illustrative rather than limiting, and that it be understood that all equivalents and/or combinations of embodiments are intended to be included in this description.