JP7107635B2 - Surgical tool system and method - Google Patents

Description

Detailed description of the invention

[Related Application]
This application claims priority under 35 U.S.C. 120 to U.S. patent application Ser. claims priority to U.S. Provisional Application No. 61/662,702, filed June 21, 2012, and U.S. Provisional Application No. 61/800,527, filed March 15, 2013, under the , each of which is incorporated herein by reference in its entirety.

[Background technology]
Various medical procedures require precise localization of the three-dimensional position of surgical instruments within the body in order to provide optimized treatment. For example, some surgical procedures for fusing vertebrae require the surgeon to drill multiple holes into the bony structure at specific locations. To achieve a high level of mechanical integrity in the fusion system and to balance the forces created in the bone structure, holes need to be drilled at precise locations. Vertebrae, like most bony structures, have complex geometries, including non-planar curved surfaces that make precise vertical drilling difficult. Conventionally, the surgeon manually holds and positions the drilling guide tube by using a guidance system to superimpose the location of the drilling tube onto a three-dimensional image of the bony structure. This manual process is tedious and time consuming. The success of surgery is highly dependent on the dexterity of the surgeon performing it.

Limited robotic assistance for surgical procedures is currently available. For example, the da Vinci® medical robotic system (da Vinci® is a registered trademark of Intuitive Surgical) is a robot used in certain surgical applications. In the da Vinci® system, the user controls the manipulators, which control the robot actuators. The system converts the surgeon's body motions into micro-motions of the robot actuators. The da Vinci® system eliminates hand tremor and gives users the ability to work through small openings, but like many of the robots commercially available today, it is expensive. , which is intrusive and cumbersome to set up. Further, for procedures such as thoracolumbar pedicle screw insertion, these conventional methods are known to be error prone and cumbersome.

One of the many features of current robots used in surgical applications that makes them prone to error is the ability to autonomously move and move the surgical instrument once the instrument is implanted within a portion of the patient. Correct placement can be hampered by lack of mechanical feedback and/or loss of visual placement.

[Outline of the invention]
Some embodiments of the present invention provide a guided surgical tool assembly comprising a guide tube including at least one sensor and a surgical instrument including at least one detectable characteristic movable within the guide tube. do. In some embodiments, the at least one sensor is constructed and arranged to detect the at least one detectable characteristic when the surgical instrument is at least partially inserted within the guide tube.

Some embodiments include a detectable property comprising a magnetically detectable property capable of generating a magnetic flux field, and in some embodiments the sensor is capable of detecting the magnetic flux field. A possible position sensor. Some embodiments are also configured and arranged to detect insertion and movement of a surgical instrument into and through the guide tube by sensing a magnetically detectable property. Includes position sensor. In some embodiments, the position sensor is a magnetic flux field sensor selected from the group consisting of ferrite-based magnetic materials, rare earth-based magnetic materials, aluminum-nickel-cobalt-based magnetic materials, and mixtures thereof.

In some embodiments, the detectable characteristic includes at least one longitudinal magnetic strip and at least one radial magnetic strip. Further, in some embodiments, the guide tube includes at least three position sensors, and in some embodiments, the at least three position sensors are longitudinal magnetic strips, or radial magnetic field strips, or both. constructed and arranged to sense magnetic field flux from the

In some embodiments, the longitudinal position of the surgical instrument in the guide tube can be determined, at least in part, using magnetic field flux measurements from longitudinal magnetic strips. In other embodiments, the radial position of the surgical instrument in the guide tube can be determined, at least in part, using magnetic field flux measurements from the radial magnetic strips.

Some embodiments include a detectable property comprising an optically detectable property and at least one sensor comprising at least one optical sensor. In some embodiments, the optically detectable characteristic comprises symmetrical or high contrast markings distributed along at least a partial longitudinal length of the guiding surgical tool assembly.

Some embodiments include at least one optical sensor comprising a photosensitive detector selected from the group consisting of photodiodes, phototransistors, fiber optic sensors, photomultipliers, CCDs, cameras, or combinations thereof. include.

In some embodiments, the longitudinal position of the surgical instrument in the guide tube is determined at least in part by optically sensing light from the high contrast markings using at least one optical sensor. can be

Some embodiments include an optically detectable characteristic comprising a graded coating distributed along at least a partial longitudinal length of the guided surgical tool assembly. In some embodiments, the graded coating comprises a graded reflective coating. In other embodiments, the graduated coating comprises a graduated color coating.

In some embodiments, the longitudinal position of the surgical instrument in the guide tube is determined, at least in part, by optically sensing light from the graded coating using at least one optical sensor. can be determined.

Some embodiments are a guiding surgical tool assembly, wherein the guide tube comprises a distal guide tube end and a proximal guide tube end, and the surgical instrument comprises a distal end and a proximal end. Includes surgical tool assembly. In some embodiments, the sensor comprises at least one sensor pad. The guided surgical tool assembly can further comprise a guided stop coupled to the proximal end of the surgical instrument and a plunger mechanism. The plunger mechanism can include a compressible spring mechanism coupled to the distal end of the guide tube and a wiper constructed and arranged to be sensed by the at least one sensor pad.

In some embodiments of the guided surgical tool assembly, longitudinal movement of the surgical instrument within the guide tube (when the guide stop moves toward the proximal end of the guide tube) at least partially displaces the spring. Compression may be applied to move the wiper relative to the at least one sensor pad. In other embodiments, longitudinal movement of the surgical instrument within the guide tube when the guide stop moves away from the proximal end of the guide tube causes the spring to at least partially extend and the at least one sensor pad to extend. can move the wiper relative to the

Some embodiments include a guided surgical tool assembly system comprising a tool sensor system including at least one processor and at least one data input/output interface. In some embodiments, a data input interface including at least one sensor, a guide tube including at least one sensor, and a surgical instrument movable within the guide tube. In some embodiments, the surgical instrument includes at least one detectable characteristic and the at least one sensor is constructed and arranged to detect the at least one detectable characteristic.

In some embodiments, a guiding surgical tool assembly system includes a guide tube with a distal guide tube end and a proximal guide tube end, and a surgical instrument includes a distal end and a proximal end. In some embodiments, the sensor comprises at least one sensor pad, the guiding surgical tool assembly further comprises a guiding stop coupled to the proximal end of the surgical instrument, and the plunger mechanism comprises a guide tube. A compressible spring mechanism coupled to the distal end and a wiper configured and arranged to be sensed by the at least one sensor pad can be included. The at least one processor can be configured and arranged to detect the at least one surgical instrument as the instrument is at least partially inserted or moved in the guide tube.

In some embodiments of the guided surgical tool assembly system, the detectable property comprises a magnetically detectable property capable of generating a magnetic flux field. The sensor may be a position sensor capable of detecting a magnetic flux field and by sensing magnetically detectable properties to detect insertion of a surgical instrument into and movement within the guide tube. may be constructed and arranged to.

Some embodiments are a guided surgical tool assembly system, wherein the detectable property comprises an optically detectable property and the at least one sensor comprises at least one optical sensor. Includes tool assembly system. The optically detectable characteristic can comprise symmetrical or high contrast markings distributed along at least a partial longitudinal length of the guided surgical tool assembly. In some embodiments the detectable property comprises an optically detectable property and the at least one sensor comprises at least one optical sensor. The optically detectable property can comprise a graded coating distributed along at least a partial longitudinal length of the guided surgical tool assembly.

Some embodiments include a medical robotic system comprising a robot coupled to effectuator elements configured for controlled movement and positioning, and a motor assembly coupled to the robot. The motor assembly is such that movement of the effectuator element along one of the x, y, or z axes is independent of movement of the effectuator element along the other of the x, y, and z axes. can be configured to move the effectuator element along one or more of the x-, y-, and z-axes such that the x-axis is substantially relative to the y- and z-axes. substantially perpendicular, the y-axis being substantially perpendicular to the x- and z-axes, and the z-axis being substantially perpendicular to the x- and y-axes.

In some embodiments, the medical robotic system also comprises a tool sensor system including at least one processor and at least one data input/output interface, the data input interface including at least one sensor and a guidance sensor. The tube contains at least one sensor. In some embodiments, a surgical instrument is movable within the guide tube and the surgical instrument includes at least one detectable characteristic. Further, in some embodiments, the at least one sensor is configured and arranged to detect the at least one detectable characteristic, and the at least one processor determines whether the surgical instrument is at least partially within the guide tube. Constructed and arranged to detect when it is inserted. In some embodiments, the detectable characteristics can include one or more of instrument length, type, torque range, depth of treatment parameters, and other instrument parameters. Some embodiments include tracking markers coupled to the surgical instrument.

1 illustrates a surgical robot in accordance with one embodiment of the present invention; 4 illustrates a portion of a surgical robot with control of translation and orientation of an end effectuator in accordance with another embodiment of the present invention; 1 illustrates a partial view of a surgical robot having multiple optical markers mounted for calibration and tracking movement, in accordance with one embodiment of the present invention; 1 illustrates a surgical robot operating on a patient, in accordance with one embodiment of the present invention; 5A-5B each illustrate a tool assembly including a surgical instrument having a guided stop mechanism, in accordance with one embodiment of the present invention; 4A-4D each depict a tool assembly including a surgical instrument having a guided stop mechanism, according to one embodiment of the present invention; Each of the tools for manually adjusting the drill stop is illustrated with reference to drill bit markings, according to one embodiment of the present invention. 4A and 4B each illustrate a tool for locking and holding a drill bit in a set position, according to one embodiment of the present invention; 5A-5F each illustrate the use of a tool as depicted in FIGS. 5A-5F with a robotic end effectuator coupled to a robotic system. 1 illustrates a tool assembly including a surgical instrument having a guided stop mechanism associated with a sensor, in accordance with one embodiment of the present invention; 1 illustrates a tool assembly system architecture, according to one embodiment of the present invention; 4 illustrates a tool comprising a surgical instrument having a guided stop mechanism, according to another embodiment of the present invention; 7D is a modified guide tube for use with the tool assembly shown in FIG. 7C, according to one embodiment of the present invention; 7B shows the tool shown in FIG. 7A inserted within the modified guide tube shown in FIG. 7B to form a tool assembly, according to one embodiment of the present invention; 6 illustrates a tool assembly including a surgical instrument having a guided stop mechanism in accordance with another embodiment of the present invention; 6 illustrates a tool assembly including a surgical instrument having a guide stop inserted within a modified guide tube, according to another embodiment of the present invention; 6 illustrates a tool assembly including a surgical instrument having a guide stop inserted within a modified guide tube, according to another embodiment of the present invention; 6 illustrates a tool assembly including a surgical instrument having at least one tracking marker, in accordance with a further embodiment of the present invention;

[Mode for carrying out the invention]
Before describing any embodiment of the invention in detail, the invention is limited in its application to the details of construction and arrangement of the components set forth in the following description and illustrated in the following drawings. It shall be understood that the The invention is capable of being practiced or being carried out in other embodiments and 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 may be used to refer to the items listed thereafter and their equivalents, as well as additional terms. is meant to include the items of The terms “mounted,” “connected,” “supported,” and “coupled,” and variations thereof, unless otherwise specified or restricted Form is used broadly and encompasses both direct and indirect attachment, connection, support and coupling. Furthermore, "connected" and "coupled" are not limited to physical or mechanical connections or couplings.

The following discussion is presented to enable any person skilled in the art to make and use embodiments of the invention. Various modifications to the illustrated embodiments will be readily apparent to those skilled in the art, and the general principles herein can be applied to other embodiments and applications without departing from the embodiments of the invention. can be applied to Thus, the embodiments of the invention are not intended to be limited to the embodiments shown, but are to be accorded the broadest scope consistent with the principles and features disclosed herein. The following detailed description should be read with reference to the drawings in which like elements in different drawings have like reference numerals. The drawings, which are not necessarily to scale, depict selected embodiments and are not intended to limit the scope of embodiments of the invention. Those skilled in the art will recognize that the examples provided herein have many useful alternatives and are within the scope of embodiments of the invention.

1A-1B illustrate a surgical robotic system 1 according to one embodiment of the present invention, and FIG. 1C illustrates a surgical robot system with control of translation and orientation of an end effectuator, according to another embodiment of the present invention. 1 illustrates a portion of the robot system 1 for use. 1A-1B, some embodiments include a surgical robotic system 1. FIG. As shown, in some embodiments, surgical robot 15 can include display 29 and housing 27 . In some embodiments, indicator 29 can be attached to surgical robot 15 . In other embodiments, the display 29 can be removed from the surgical robot 15 either in the operating room with the surgical robot 15 or at a remote location. In some embodiments, the housing 27 can comprise a robotic arm 23 and an end effectuator 30 coupled to the robotic arm 23 controlled by at least one conventional motor. In some embodiments, end effectuator 30 is an instrument used to perform surgery on patient 18 (eg, FIGS. 3A-3B, 4A-4D, 6A, 7A, 7C, 8A-8B, 9 , and surgical instruments 35 depicted in 10). In other embodiments, end effectuator 30 can be coupled to surgical instrument 35 . As used herein, the term "end effectuator" is used synonymously with the term "effectuator element." In some embodiments, end effectuator 30 can comprise any known structure for effecting movement of surgical instrument 35 in a desired manner.

FIG. 1C illustrates a portion of surgical robot 15 with control of translation and orientation of an end effectuator, according to another embodiment of the present invention. As shown, some embodiments utilize a robot 15 capable of moving the end effectuator 30 along the x, y, and z axes (see 66, 68, 70 in FIG. 1C). includes a surgical robot system 1 capable of In this embodiment, x-axis 66 may be perpendicular to y-axis 68 and z-axis 70, y-axis 68 may be perpendicular to x-axis 66 and z-axis 70, and z-axis 70 may be perpendicular to It may be perpendicular to the x-axis 66 and y-axis 68 . In some embodiments, robot 15 can be configured to provide movement of end effectuator 30 along one axis independently of the other axis. For example, in some embodiments, robot 15 moves end effectuator 30 along x-axis 66 without causing any substantial movement of end-effectuator 30 along y-axis 68 or z-axis 70 . A given distance can be moved. As used in this context, "substantial" means less than 2 degrees deviation from the intended path.

In some further embodiments, the end effectuator 30 can be configured for selective rotation about one or more of the x-axis 66, y-axis 68, and z-axis 70 (end effectuator 30). One or more of the Cardanic Euler angles (eg, roll, pitch, and/or yaw) associated with actuator 30 can be selectively controlled). In some embodiments, during operation, the end effectuator 30 and/or the surgical instrument 35 can be selectively deflected and monitored by the robotic system 1 in a selected orientation axis ("Z tube ) can be matched.

In some embodiments, selective control of the translation and orientation of the end effectuator 30 is significantly improved compared to, for example, conventional robots utilizing a 6 DOF robot arm 23 with only an axis of rotation. It can enable medical procedures to be performed with increased precision. For example, in some embodiments, as shown in FIG. 2, a surgical robotic system 1 such as depicted in FIGS. 1A-1C can be used to operate on a patient, robotic arm 23 can be positioned on the patient's 18 body and the end effectuator 30 is selectively angled with respect to the z-axis toward the patient's 18 body.

In some embodiments, the position of surgical instrument 35 can be dynamically updated such that surgical robot 15 is always aware of the location of surgical instrument 35 during the procedure. As a result, in some embodiments, surgical robot 15 can be operated with minimal injury to patient 18 and without any further assistance from a physician (unless the physician so desires). The surgical instrument 35 can be quickly moved to the desired position. In some further embodiments, surgical robot 15 is configured to correct the path of surgical instrument 35 if surgical instrument 35 deviates from a selected pre-planned trajectory. can be done. In some embodiments, surgical robot 15 can be configured to allow stopping, modifying, and/or manually controlling movement of end effectuator 30 and/or surgical instrument 35 . Thus, during use, in some embodiments, a physician or other user can operate system 1 to stop, modify, or modify the autonomous movement of end effectuator 30 and/or surgical instrument 35 . Or have the option to control manually. Further details of surgical robotic system 1, including control and movement of surgical instrument 35 by surgical robot 15, are from which this application claims priority under 35 U.S.C. No. 13/924,505, which is incorporated herein by reference in its entirety.

In some embodiments, guide tube 50 is used with surgical instrument 35 to operate on patient 18 . For example, some embodiments include guide tube 50 with distal end 50a and proximal end 50b. As used herein, "tube" is used to refer to a somewhat hollow structure of any one or more desired cross-sectional shapes. In some embodiments, as the surgical instrument 35 is advanced into the tissue of the patient 18 with the assistance of the guide tube 50, the surgical instrument 35 reaches a predetermined amount of protrusion. , a guiding stop 52 configured to prevent the surgical instrument 3 from advancing. For example, Figures 3A-3B each illustrate a tool assembly 100 including a surgical instrument 35 having a guiding stop 52, according to one embodiment of the present invention. As shown in FIG. 3B, when guide stop 52 contacts proximal end 50b of guide tube 50, instrument 35 is prevented from extending further. In some embodiments, by knowing the length of guide tube 50 and surgical instrument 35, the distance between the respective ends of surgical instrument 35, and where guide stop 52 is installed, surgical instrument It is possible to determine the maximum distance past the end of guide tube 50 that 35 can protrude (and thus the length and location of extension of tip 35c at distal end 35a relative to guide tube distal end 50a during a procedure). is. In some embodiments, instrument 35 may be guided by (and at least partially surrounded by) or in contact with a guidance structure.

In some embodiments, it may be desirable to monitor the actual projection distance as well as the maximum projection distance of surgical instrument 35 periodically or at any time during the insertion process. Accordingly, in some embodiments, the robot 15 can periodically or substantially continuously monitor the projection distance, and in some embodiments can display the distance (e.g., to the display 29, etc.). In some embodiments, the projection distance can be monitored substantially continuously using a spring-loaded plunger 54 that includes a compressible spring-loaded mechanism 55a and a sensor pad 55b with an articulated wiper 56. (See, eg, FIGS. 4A-4D). In some embodiments, guide stop 52 on surgical instrument 35 can be configured to contact spring-loaded mechanism 55 well before it meets the proximal end of guide tube 50 . . Comparing the position of surgical instrument 35 within guide tube 50, as shown in FIGS. Upon extension, the distal end 35a can approach the guide tube distal end 50a (FIG. 4B). Further, as surgical instrument 35 moves further downward (i.e., guide stop 52 moves toward proximal end 50b of guide tube 50), distal end 35a moves away from guide tube distal end 50a. 4C showing the extension of distal end 35a and the change in position of tip 35c after stop 52 contacts plunger 54, shown as region 36. ). Further, as surgical instrument 35 travels further down and guide stop 52 contacts guide tube 50 , distal end 35 a can stop and move away from distal end 50 a of guide tube 50 . Extending (see FIG. 4D showing a change in position of tip 35c (region 36). As shown in FIGS. , the compressible spring-loaded mechanism 55a within the spring-loaded plunger 54 can be compressed, and conversely, as the instrument 35 moves back out of the guide tube 50, the guide stop 52 is pulled into the guide tube 50. It will be appreciated that the compressible spring-loaded mechanism 55a within the spring-loaded plunger 54 can extend from its compressed state to move away from the proximal end 50b of the spring-loaded plunger 54.

In some embodiments, tool assembly system 1000 (shown in FIG. 6B) can include a data input/output system including sensor pad 55b coupled to wiper 56. As shown in FIG. As shown, some embodiments include system 1000 comprising at least one processor 1010 coupled to network interface 1040 that includes application interface 1050 . In some embodiments, application interface 1050 is coupled to at least one operating system 1020 and at least one enterprise application 1030 . In some embodiments, at least one processor 1010 can send and receive data from at least network interface 1040 and application interface 1050 . Further, network interface 1040 can be coupled to at least one computer-readable medium 1060, which can include data sources 1060a and data storage devices 1060b in some embodiments.

In some embodiments, surgical robotic system 1 may be coupled to tool assembly system 1000 . In some other embodiments, surgical robotic system 1 may comprise tool assembly system 1000 . In some embodiments, data input/output interface 1100 may be coupled and directed to display 29 (eg, to display directly from one or more sensors); Input/output interface 1100 may be coupled to surgical robotic system 1, display 29, or both. In some embodiments, data input/output interface 1100 may include conventional low voltage circuitry coupled to one or more sensors 55b, 56, 310, and 510. FIG. In other embodiments, data input/output interface 1100 may be coupled to conventional low voltage circuitry coupled to one or more sensors 55b, 56, 310, and 510. FIG. In some embodiments, one or more of sensors 55b, 56, 310, and 510 may be powered by the data input/output interface through conventional low voltage circuitry. In some other embodiments, one or more of sensors 55b, 56, 310, and 510 may be powered through conventional low voltage circuitry and coupled to data input/output interfaces.

In some embodiments, at least one processor 1010 can receive data from at least one data input/output interface 1100 . As depicted in FIG. 6B, in some embodiments, the data input/output interface 1100 can include at least a sensor pad 55a and an articulated wiper 56. FIG. In some embodiments, as the wiper 56 moves across the position sensor pad 55b, its linear position may be sampled by the tool assembly system 1000 and processed using at least one processor 1010. For example, in some embodiments, the calculation of the distance that surgical instrument 35 protrudes past distal end 50a of guide tube 50 may be processed substantially in real time. For example, as shown in FIGS. 4A-4D, as the position of surgical instrument 35 within guide tube 50 changes, surgical instrument 35 extends toward distal end 50a of guide tube 50, thereby removing the wiper. 56 can move toward guide tube distal end 50a and across sensor pad 55b in wiping region 58 (see, eg, movement from FIGS. 4B-4C). Further, as surgical instrument 35 travels further downward toward guide tube 50 distal end 50a and guide stop 52 contacts guide tube 50 at its proximal end, wiper 56 moves the guide tube 50 toward its distal end 50a. It can move across sensor pad 55b toward distal end 50a and toward the lower end of wiping area 58 (see FIG. 4D).

In some embodiments, as the wiper 56 moves across the sensor pad 55b toward the lower end of the wiping area 58, the tool assembly system 1000 determines the position of the wiper 56 and/or movement of the wiper 56 relative to the sensor pad 55b. can communicate. As described above, in some other embodiments, the surgical robotic system 1 may comprise a tool assembly system 1000 and a data input/output interface 1100 that allows the surgical robotic system 1 to detect sensor It may be coupled to the surgical robotic system 1 to allow reading of the position of the wiper 56 on the pad 55b or the movement of the wiper 56 relative to the sensor pad 55b.

In some embodiments, the surgical instrument can include a drilling bit 42. Some embodiments include an instrument 35 that allows a stop on drill bit 42 to be manually adjusted with reference to markings 44 on drill bit 42 . For example, Figures 5A-5C each illustrate tools for manually adjusting the drill stop 46 with reference to the drill bit 42 markings 44, according to one embodiment of the present invention. Further, FIGS. 5D-5F each illustrate a tool for locking and holding a drilling bit in a set position, and FIGS. 5A-5F, together with the robotic end effectuator 30 shown in FIG. As shown, in some embodiments, the drill bit 42 includes commercially available oppositely oriented one-way spring loaded release mechanisms 48a, 48b on each end of the drill stop 46. can be done. When not tensioned against their springs, one-way release mechanisms prevent movement in one direction but allow free movement in the opposite direction. For example, in FIG. 5A, stationary release 48a on the left side of stop 46 allows drilling bit 42 to move freely through release 48a from right to left, while drilling bit 42 from left to right. movement is prevented. A release 48b to the right of stop 46 allows drilling bit 42 to move freely from left to right through release 48b, but prevents movement from right to left. In some embodiments, it is therefore not possible to move the bit 42 in either direction when neither release 48a, 48b is being pulled. In some embodiments, when the release 48a or 48b on one end of the drill stop 46 is pulled, it can move the drill stop 46 up the shaft of the drill bit 42 away from the pulling direction. It is possible. In some embodiments, when the release 48a or 48b on the other end of the drill stop 46 is pulled, it is possible to move the drill stop 46 down the shaft (away from the pulling direction, See directions of movement in FIGS. 5B and 5C). The direction in which the releases 48a, 48b are pulled is the direction in which the excavation stop 46 is allowed to move such that accidental pulling of one release 48a, 48b does not result in unintended movement of the excavation stop 46. is the opposite. For example, pulling release 48a toward the left in FIG. 5B allows dig stop 46 to be moved toward the right. In some embodiments, if neither release mechanism 48a, 48b is pulled, the dig stop 46 will not move in either direction, even if shaken.

Some embodiments include the ability to lock and hold drill bit 42 in a set position relative to guide tube 50 in which it is housed. For example, in some embodiments, drill bit 42 may be locked by locking drill stop 46 to guide tube 50 using a locking mechanism. Figures 5D-5H illustrate a tool for locking and holding a drilling bit 42 in a set position, according to one embodiment of the invention. In some embodiments, the locking mechanism 49 shown in Figure 5F can comprise two clamshells 49 (shown in Figure 5D). In some embodiments, drill bit 42 can be locked in position by assembling a clamshell around drill stop 46 (shown in FIG. 5E). For example, this feature allows the user to lock drilling bit 42 in a position such that the tip protrudes slightly past the end of guide tube 50 (see FIGS. 5G and 5H). ). In this position, the user can force guide tube 50 through soft tissue to force guide tube 50 to contact bone (eg, during percutaneous spinal screw insertion). For further details of the tools illustrated in FIGS. 5A-5G and described above, this application claims priority under 35 USC §120 and is incorporated by reference in its entirety. can be found in co-pending US patent application Ser. No. 13/924,505, which is incorporated herein by

In some embodiments, tool assembly system 1000 can include data input/output interface 1100 having at least one position sensor 310 . In some embodiments, the at least one processor 1010 can send and receive data from at least the network interface 1040 and the application interface 1050, and can receive data from the data input/output interface 1100 with at least one position sensor 310. may be received.

FIG. 6A illustrates a tool assembly 300 including a surgical instrument 35 having a guide stop 52 associated with a sensor, according to one embodiment of the present invention. As shown, in some embodiments, surgical instrument 35 can include a magnetic strip 320 extending along some portion of the longitudinal length of instrument 35 such that surgical instrument 35 is , may include at least one position sensor 310 . The embodiment shown in FIG. 6A includes a magnetic strip 320 extending from a region substantially immediately adjacent guide stop 52 and extending up to about three-quarters of the length of surgical instrument 35 .

In some other embodiments, magnetic strip 320 may extend closer to or farther from distal end 35a of surgical instrument 35 . As shown, in some embodiments magnetic strip 320 is positioned on the outer surface of surgical instrument 35 . However, in some other embodiments, the magnetic strip 320 may be positioned below the outer surface of the device 35 (ie, the magnetic strip 320 may be embedded within the device 35). In some embodiments, magnetic strip 320 includes a thickness that is sufficient to retain adequate mechanical integrity. For example, in some embodiments, the magnetic strip 320 includes a thickness sufficient to have sufficient magnetic field flux to be detected by the position sensor 310 while retaining adequate durability during use.

In some embodiments, magnetic strip 320 can comprise a thin, flexible, rigid, or semi-rigid magnetic material having a thickness of about 0.001 to about 0.15 inches. In some embodiments, the magnetic strip 320 may be thinner than 0.001 inch, and in other embodiments the magnetic strip 320 may be thicker than 0.15 inch. In some embodiments, magnetic strip 320 comprises a self-supporting tape or similar material that can be cut to size and adhered to surgical instrument 35 . In other embodiments, the magnetic strip 320 is formed from a liquid or semi-liquid (eg, a magnetic paint that is applied to the surface of the instrument 35 at defined locations and then dried to form the magnetic strip 320) from a surgical is formed on the tool 35 . In some embodiments, magnetic strip 320 comprises a ferritic magnetic material. In other embodiments, magnetic strip 320 includes a rare earth based magnetic material (eg, a neodymium based permanent magnet). In some further embodiments, magnetic strip 320 comprises an alnico-based magnetic material (ie, an aluminum-nickel-cobalt-based magnetic material). For example, in some embodiments, the magnetic strip 320 is a thin, flexible magnetic material comprising a material selected from the group consisting of ferrite-based magnetic materials, neodymium-based permanent magnets, alnico-based magnetic materials, and mixtures thereof. , rigid, or semi-rigid magnetic strips 320 . Alternatively, in some other embodiments, the magnetic strip 320 comprises a material selected from the group consisting of ferrite-based magnetic materials, neodymium-based permanent magnets, alnico-based magnetic materials, and mixtures thereof. Formed on the surgical instrument 35 from a semi-liquid (eg magnetic paint). In some embodiments, magnetic strip 320 can be embedded within the internal structure of device 35 . For example, it may be positioned at the core of instrument 35 . In other embodiments, if the device 35 is tubular, the magnetic strip 320 can be placed on the inner surface of the tubular mouth.

In some embodiments, tool assembly 300 can include a position sensor 310 coupled to guide tube 51a (see FIG. 6A). In some embodiments, position sensor 310 may be a Hall effect sensor capable of changing its output voltage in response to magnetic fields detected from magnetic strip 320 . In some embodiments, position sensor 310 may comprise a magnetic sensing coil, or a magnetoresistive read head. In some embodiments, an output signal is generated by data input/output interface 1100 when position sensor 310 moves relative to magnetic strip 320 and magnetic variations are detected. In some embodiments, insertion of surgical instrument 35 in guide tube 51 a can be detected using position sensor 310 . In some embodiments, magnetic strip 320 can include a variable magnetic flux that can be detected by position sensor 310 as it moves relative to magnetic strip 320 . For example, in some embodiments, the magnetic field flux of the magnetic strip 320 can rise and fall cyclically through at least a portion of the longitudinal length of the magnetic strip 320 . If the position sensor 310 is a Hall effect sensor, this movement will produce various outputs in response to the magnetic field detected from the magnetic strip 320 as it moves from a region of low magnetic field flux to a region of higher magnetic field flux. A voltage can be generated.

In some embodiments, the magnetic strip 320 has alternate arrangements of regions of higher and lower magnetic flux strength that can be detected by the position sensor 310 as it moves relative to the magnetic strip 320 . can include settings. In some other embodiments, alternative arrangements of regions of higher and lower magnetic flux strength may comprise magnetic bar codes that can be detected by the magnetic strip 320 and data entry / processed using at least one processor 1010 through an output interface 1100 . In some embodiments, the arrangement of regions of higher and lower magnetic field flux strength is associated with magnetic barcodes (depicted as magnetically encoded regions 321 of magnetic strip 320 shown in FIG. 6A). can contain. In some embodiments, at least a portion of magnetically encoded region 321 may be detectable by magnetic strip 320 for purposes of identifying surgical instrument 35 . For example, in some embodiments, surgical instrument 35 can include a magnetic strip 320 that includes at least a magnetically encoded region 321 having a type code for surgical instrument 35 . Further, in some embodiments, surgical robotic system 1 can include safety protocols for performing checks on surgical instrument 35 prior to its use in a surgical procedure. In some embodiments, for example, insertion of surgical instrument 35 in guide tube 51 a can read magnetically encoded regions 321 within magnetic strip 320 as it passes sensor 310 . A possible position sensor 310 can be used to detect. In some embodiments, information regarding instrument 35 inserted into guide tube 51a can be magnetically and permanently or semi-permanently stored on magnetic strip 320 prior to surgery. Then, during surgery, when a tool is introduced into guide tube 51a, sensor 310 reads magnetically encoded regions 321 of strip 320 to provide information about the tool's diameter, length, shape, or other important information. can be detected. These data can be automatically communicated to processor 1010 and displayed to the user via data input/output interface 1100 .

Some embodiments may include additional or alternative position sensors 310 . For example, Figure 7A illustrates a surgical instrument 35 having a guiding stop 52 according to another embodiment of the present invention. As shown, surgical instrument 35 may include three position sensors 310 substantially equally spaced on surgical instrument 35 . In some embodiments, insertion of surgical instrument 35 in guide tube 51a can be detected using position sensor 310, and movement of surgical instrument 35 within guide tube 51a indicates that it Detection can occur as it passes over a position sensor (located approximately halfway down the length of surgical instrument 35 and adjacent distal end 35a of surgical instrument 35). Different length guide tubes requiring different numbers of position sensors 310 such that the magnetic strip 320 is always adjacent to at least one sensor 310 at any longitudinal position of the instrument 35 within the guide tube 51a. It should be apparent to those skilled in the art that 51a and instrument 35 can be assembled.

In some other embodiments, a tool assembly 400 (shown in FIG. 7C) can include an alternative guide tube 51b that includes longitudinal magnetic strips 420 and radial magnetic strips 430. As shown in FIG. As used herein, "tube" is intended to encompass circular and other shaped structures that may or may not form a complete circular or other enclosing structure. be. For example, Figure 7B is a modified guide tube 51b for use with the instrument 35 shown in Figure 7A, according to one embodiment of the present invention. FIG. 7C shows tool assembly 400 including instrument 35 shown in FIG. 7A inserted into modified guide tube 51b shown in FIG. 7B, according to one embodiment of the present invention. In some embodiments, insertion of surgical instrument 35 in guide tube 51b can be detected using position sensor 310 using longitudinal magnetic strip 420, and surgical instrument 35 in guide tube 51b can be detected using longitudinal magnetic strip 420. Movement of instrument 35 occurs as it passes over the remaining position sensor (located approximately halfway down the length of surgical instrument 35 and adjacent distal end 35a of surgical instrument 35). A longitudinal magnetic strip 420 can be used for detection. In some embodiments, rotational movement of the instrument within guide tube 51a is detected using radial magnetic strips 430 as it moves relative to any one of position sensors 310. be able to. For example, in some embodiments, tool assembly system 1000 can include data input/output interface 1100 having at least one position sensor 310 . The at least one processor 1010 is capable of transmitting and receiving data from at least the network interface 1040 and the application interface 1050, and through interaction with either the longitudinal magnetic strips 420 or the radial magnetic strips 430, at least Data may be received from a data input/output interface 1100 having one position sensor 310 . Accordingly, in some embodiments, surgical robotic system 1 detects at least movement of surgical instrument 35 longitudinally relative to guide tube 51b and when instrument 35 is twisted within guide tube 51b. be able to. In some other embodiments, instrument 35 can be coupled to the exterior surface of the guide tube.

In addition to magnetic field-based sensing, some embodiments include optical sensing of movement of surgical instrument 35 in the guide tube. For example, FIG. 8A illustrates a surgical instrument 35 having a guide stop 52 according to another embodiment of the invention, and FIG. 8B illustrates a modified guide tube 51c in accordance with another embodiment of the invention. A tool assembly 500 including a surgical instrument 35 having a guiding stop 52 inserted therein is illustrated. As shown, in some embodiments surgical instrument 35 can include a plurality of high contrast markings 520 distributed along at least a partial longitudinal length of instrument 35 . In some other embodiments, multiple high contrast markings 520 may extend substantially the entire longitudinal length of instrument 35 .

In some embodiments, modified guide tube 51 c may include at least one optical sensor 510 capable of sensing at least one of plurality of high contrast markings 520 . In some embodiments, at least one optical sensor 510 may be capable of sensing at least one of the plurality of high contrast markings 520 as surgical instrument 35 is inserted in guide tube 51c. . Further, in some embodiments, tool assembly system 1000 can include data input/output interface 1100 coupled with at least one of plurality of high contrast markings 520 . At least one processor 1010 is capable of transmitting and receiving data from at least network interface 1040 and application interface 1050, and through interaction with at least one optical sensor 510, at least one of plurality of high contrast markings 520. Data may be received from data input/output interface 1100 having one. Accordingly, in some embodiments, surgical robotic system 1 detects at least longitudinal surgical instrument 35 relative to guide tube 51 c when optical sensor 510 detects at least one of plurality of high-contrast markings 520 . movement can be detected.

In some embodiments, optical sensor 510 can be a photodiode, phototransistor, fiber optic sensor, photomultiplier, CCD, camera, or a combination of those described. In some embodiments, optical sensor 10 can detect ambient light reflected from surgical instrument 35 that includes a plurality of high-contrast markings 520 . In other embodiments, a conventional light source (e.g., incandescent or LED light) can be used in combination with optical sensor 510 and high-contrast markings 520, where optical sensor 510 is emitted by the light source to produce a plurality of high-contrast markings. Light reflected from a surgical instrument 35 containing contrast markings 520 can be detected.

Some embodiments may include alternative optical recognition of surgical instrument 35 . For example, FIG. 9 illustrates a tool assembly 600 including a surgical instrument 35 having a guide stop 52 inserted within a modified guide tube 51c according to another embodiment of the present invention. As shown, in some embodiments, surgical instrument 35 can include optically graded coating 37 . In some embodiments, optically graded coating 37 can include a color scale over at least a partial longitudinal length of device 35 . In some other embodiments, the optically graded coating 37 can include light reflective graduations over at least a partial longitudinal length of the device 35 . For example, in some embodiments, optically graded coating 37 is applied from the proximal end (shown as a substantially colorless area adjacent guide stop 52 in FIG. 9) to distal end 35a. Light reflective scales can be included that extend to adjacent darker areas. In some embodiments, at least one optical sensor 510 may be capable of sensing coating 37 when surgical instrument 35 is inserted in guide tube 51c. Additionally, in some embodiments, tool assembly system 1000 can include a data input/output interface 1100 coupled with coating 37 . At least one processor 1010 is capable of transmitting and receiving data from at least network interface 1040 and application interface 1050, and through interaction with at least one optical sensor 510, at least one of plurality of high contrast markings 520. Data may be received from data input/output interface 1100 having one. Thus, in some embodiments, surgical robotic system 1 can detect movement of surgical instrument 35 longitudinally with respect to at least guide tube 51 c as optical sensor 510 detects coating 37 . For example, when surgical instrument 35 is first inserted into guide tube 51c, optical sensor 510 may detect low levels of light due to coating 37 including a dark color and/or low reflectivity. As the surgical instrument 35 is inserted further into the guide tube 51c, the optical sensor 510 is incrementally increased with the optical sensor 510 moving across the coating 37 containing progressively lighter colors and/or higher reflectivity. level light can be detected.

In some embodiments, robotic surgical system 1 includes a plurality of tracking markers 720 configured to track movement of robotic arm 23, end effectuator 30, and/or surgical instrument 35 in three dimensions. can be provided. The three-dimensional position information from tracking markers 720 is combined with one-dimensional linear position information from conventional linear encoders, either absolute or relative, on each axis of robot 15 to maintain a high degree of precision. It should be understood that it is possible to use In some embodiments, a plurality of tracking markers 720 are located on an outer surface of robot 15, such as, for example, and without limitation, base 25 of robot 15, or robot arm 23 (see, eg, FIG. 1B). It can be mounted (or otherwise fixed). In some embodiments, multiple tracking markers 720 may be configured to track movement of robot 15 arm, end effectuator 30 and/or surgical instrument 35 . In some embodiments, the robotic surgical system 1 determines the surgical position based on encoder counts along the x-axis 66, y-axis 68, z-axis 70, Z-tube axis 64, and roll 62 and pitch 60 axes. Tracking information can be used to calculate the orientation and coordinates of the instrument 35 . Additionally, in some embodiments, the plurality of tracking markers 720 are spaced apart from the surgical field 17 to reduce the likelihood of obstruction by the surgeon, surgical tools, or other parts of the robot 15 . can be positioned on the base 25 of the In some embodiments, at least one tracking marker 720 of the plurality of tracking markers 720 can be attached or otherwise fixed to the end effectuator 30 (see, eg, FIG. 1D). In a further embodiment, at least one optical marker of the plurality of optical tracking markers 720 is located on the base 25 of the robot 15 and the end effectuator instead of or in addition to the markers 720 on the base 25 of the robot 15. 30 can be positioned on the robot 1 . In some embodiments, the positioning of one or more tracking markers 720 on the end effectuator 30 is determined by the end effectuator 30 position (position information from markers on the base 25 of the robot 15 as well as z70, x66, y68, Accuracy of position measurements can be maximized by serving to check or verify the roll 62, pitch 60, and Z-tube 64 axis encoder counts). In some embodiments, at least one tracking marker 720 enables tracking marker 720 to move along x-axis 66 as end effectuator 30 and surgical instrument 35 move along x-axis 66. can be mounted on a portion of the robot 15 that effects movement of the end effectuator 30 and/or the surgical instrument 35 along the x-axis so as to (see FIG. 1D). In some embodiments, placement of the tracking marker 720 as described reduces the likelihood that the surgeon will block the tracking marker 720 from a camera or sensing device or that the tracking marker 720 will interfere with surgery. can be done.

In some embodiments, the high precision of the calculation of the orientation and position of the end effectuator 30 based on the tracking marker 720 output and/or the encoder counts from each axis allows the position of the end effectuator 30 to be determined very precisely. it may be possible. For example, in some embodiments, the position of marker 720 on x-axis 66 as well as the position of marker 720 on z-axis 70 (which lies between x-axis 66 and base 25) without requiring knowledge of axis encoder counts Knowing only the encoder counts on the y-axis 68, the roll axis 62, the pitch 60, and the Z-tube axis 64 can allow the calculation of the position of the end effectuator 30. FIG. In some embodiments, the placement of markers 720 on any intermediate axis on robot 15 determines the exact position of end effectuator 30, the location of such markers 720, and the distance between marker 720 and end effectuator 30. can be allowed to be calculated based on the encoder counts on the axes (66, 62, 60, 64) in between. Further details of the surgical robotic system 1, including the control, movement, and tracking of the surgical robot 15 and surgical instrument 35, as previously noted, are subject to disclosure under 35 USC §120. No. 13/924,505, to which priority is claimed and which is incorporated herein by reference in its entirety.

Some embodiments include one or more markers 725 coupled to surgical instrument 35 . In some embodiments, the markers 720, 725 are tracked using conventional light emitting diodes or Optotrak® diodes, or commercially available infrared optical tracking systems such as Optotrak®. A reflective Polaris sphere can be provided. Optotrak® is manufactured by Northern Digital Inc. , Waterloo, Ontario, Canada. In some embodiments, light emitted from and/or reflected by markers 720, 725 can be read by a camera 8200 used to monitor the location and movement of robot 15 (e.g. , camera 8200 mounted on camera arm 8210 and movable through camera arm joint 8210a and camera arm joint 8210b shown in FIG. 2). In some other embodiments, the markers 720, 725 may comprise radio frequency and/or electromagnetic reflectors or transceivers and the camera 8200 may include or be replaced by radio frequency and/or electromagnetic transceivers. can be done.

FIG. 10 illustrates a tool assembly 900 including a surgical instrument 35 having at least one tracking marker 725 according to a further embodiment of the invention. In some embodiments, a single marker 725 may be suitable for determining the linear position of instrument 35 within guide tube 50 when guide tube 50 is tracked with tracking array 690 . 10, when this single tracking marker 725 is coupled to the tool off the longitudinal midline of tool 50, the position of the marker in space relative to guide tube 50 is Information can be provided regarding both the radial orientation and longitudinal position of the instrument 35 within. In some other embodiments, multiple markers 725 can be used to determine the linear position of instrument 35 within guide tube 50 when guide tube 50 is tracked with tracking array 690 .

While several embodiments of the invention have been disclosed in the foregoing specification, many modifications and variations of the invention to which the invention pertains have the benefit of the teachings presented in the foregoing description and associated drawings. It is understood that other embodiments are envisioned. It is therefore intended that the present invention not be limited to the specific embodiments disclosed above, and that many modifications and other embodiments are intended to fall within the scope of the appended claims. understood. Furthermore, although specific terms are employed herein, as well as in the claims that follow, they are used in a generic and descriptive sense only and limit neither the invention described nor the claims that follow. Not used for any purpose.

Although the present invention is described above in conjunction with specific embodiments and examples, the present invention is not necessarily so limited and numerous other embodiments, examples, uses, modifications, and It will be appreciated by those skilled in the art that deviations from such embodiments, examples, and uses are intended to be covered by the claims appended hereto. The entire disclosure of each patent and publication cited herein is incorporated by reference as if each such patent or publication were individually incorporated by reference herein. Various features and advantages of the invention are set forth in the following claims.

Claims (18)

A guided surgical tool assembly comprising:
a processor;
a guide tube including at least one detectable characteristic;
a surgical instrument movable relative to the guide tube;
the surgical instrument having a guiding stop;
wherein the surgical instrument includes at least one sensor;
The at least one detectable characteristic includes at least one longitudinal magnetic strip and at least one circumferential magnetic strip, the circumferential magnetic strip disposed proximate the first opening of the guide tube. extending around the entire circumference of the guide tube, the circumferential magnetic strips intersecting the longitudinal magnetic strips;
the longitudinal magnetic strip and the circumferential magnetic strip each comprise a magnetically encoded region;
the sensor is a position sensor capable of detecting a magnetic flux field from the magnetic strip;
The processor cyclically raises and lowers a longitudinal magnetic strip through at least a portion of the longitudinal length of the magnetic strip when the surgical instrument is at least partially coupled with the guide tube. A guided surgical tool assembly configured to detect the position of the surgical instrument within the guide tube, as the position sensor detects a magnetic flux field of . The guided surgical tool assembly according to any one of the preceding claims, wherein the surgical instrument includes at least two position sensors. wherein the guide tube includes a plurality of circumferential magnetic strips;
A guided surgical tool assembly according to claim 1 or 2. wherein the at least one detectable property is selected from the group consisting of ferrite-based magnetic materials, rare-earth-based magnetic materials, aluminum-nickel-cobalt-based magnetic materials, and mixtures thereof , A guided surgical tool assembly according to any one of the preceding paragraphs . the detectable property comprises an optically detectable property;
The guided surgical tool assembly according to any one of the preceding claims, wherein the at least one sensor comprises at least one optical sensor. The guided surgical tool assembly according to claim 5 , wherein the optically detectable characteristic comprises high contrast markings distributed along at least a partial longitudinal length of the guided surgical tool assembly. . 7. The at least one optical sensor of claim 6 , wherein said at least one optical sensor comprises a photosensitive detector selected from the group consisting of photodiodes, phototransistors, fiber optic sensors, photomultipliers, CCDs, cameras, or combinations thereof. guided surgical tool assembly. A longitudinal position of the surgical instrument in the guide tube may be determined, at least in part, by optically sensing light from the high contrast markings using the at least one optical sensor. A guided surgical tool assembly according to claim 6 . The guided surgical tool of claim 5 , wherein the optically detectable property comprises a graded coating distributed along at least a partial longitudinal length of the guided surgical tool assembly. assembly. The guided surgical tool assembly according to claim 9 , wherein the graded coating comprises a graded reflective coating. The guided surgical tool assembly according to claim 9 , wherein the graduated coating comprises a graduated color coating. A longitudinal position of the surgical instrument in the guide tube may be determined, at least in part, by optically sensing light from the graded coating using the at least one optical sensor. 10. The guided surgical tool assembly of claim 9 . A guided surgical tool assembly system comprising:
A guided surgical tool sensor system comprising at least one processor and at least one data input/output interface, said data input interface comprising at least one sensor;
a guide tube including the at least one detectable characteristic;
a surgical instrument movable within the guide tube;
the surgical instrument having a guiding stop;
The surgical instrument includes at least one sensor, and the at least one detectable characteristic includes at least one longitudinal magnetic strip and at least one circumferential magnetic strip, wherein the circumferential magnetic strip comprises: disposed proximate to the first opening of the guide tube and extending all the way around the guide tube, the circumferential magnetic strip intersecting the longitudinal magnetic strip;
the longitudinal magnetic strip and the circumferential magnetic strip each comprise a magnetically encoded region;
the sensor is a position sensor capable of detecting a magnetic flux field from the magnetic strip;
The at least one processor cyclically raises and lowers the magnetic strip through at least a portion of the longitudinal length of the magnetic strip when the surgical instrument is at least partially coupled with the guide tube. A guided surgical tool assembly system configured to detect the position of the surgical instrument within the guide tube , as the position sensor detects a magnetic flux field of . the detectable property comprises an optically detectable property;
said at least one sensor comprises at least one optical sensor;
The guided surgical tool assembly according to claim 13 , wherein the optically detectable characteristic comprises high contrast markings distributed along at least a partial longitudinal length of the guided surgical tool assembly. system. the detectable property comprises an optically detectable property;
said at least one sensor comprises at least one optical sensor;
The guided surgical tool of claim 13 , wherein the optically detectable property comprises a graded coating distributed along at least a partial longitudinal length of the guided surgical tool assembly. assembly system. The guided surgical tool assembly system according to claim 13 , wherein the surgical instrument comprises at least one tracking marker. A medical robot system,
a robot coupled to the effectuator element, said robot configured for controlled movement and positioning;
A motor assembly coupled to the robot, wherein movement of the effectuator element along one of an x -axis , a y -axis , or a z-axis is controlled by the x -axis , y -axis , and moving the effectuator element along one or more of the x-, y-, and z-axes so as to occur independently of movement of the effectuator element along the other of the z-axes; configured to move, wherein the x-axis is substantially perpendicular to the y -axis and z-axis, the y -axis is substantially perpendicular to the x -axis and z-axis; a motor assembly having a z-axis substantially perpendicular to the x- and y-axes;
A tool sensor system including at least one processor and at least one data input/output interface, wherein the data input interface includes at least one sensor;
a guide tube including the at least one detectable characteristic;
a surgical instrument movable relative to the guide tube, the surgical instrument having a guide stop and including at least one sensor;
The at least one detectable characteristic includes at least one longitudinal magnetic strip and at least one circumferential magnetic strip, the circumferential magnetic strip disposed proximate to the first opening of the guide tube. extending around the entire circumference of the guide tube, the circumferential magnetic strips intersecting the longitudinal magnetic strips;
the longitudinal magnetic strip and the circumferential magnetic strip each comprise a magnetically encoded region;
the sensor is a position sensor capable of detecting a magnetic flux field from the magnetic strip;
by the position sensor sensing a magnetic strip magnetic flux field that periodically rises and falls through at least a portion of the longitudinal length of the magnetic strip;
the at least one processor configured to receive input from the at least one sensor and detect a position of the surgical instrument within the guide tube based on the received input;
The medical robotic system, wherein the at least one processor is configured and arranged to detect when the surgical instrument is at least partially coupled with the guide tube. 18. The medical robotic system of Claim 17 , wherein the surgical instrument includes at least one tracking marker.

Images