Patent · US12089907B2 · B2 · US

Robotic arms and methods for tissue resection and imaging

(11) Publication number

US12089907B2

(21) Application number

16/940,100

(22) Filing date

2020-07-27

(30) Priority date

2019-03-07

(43) Publication date

2024-09-17

(45) Date of grant

2024-09-17

(51) IPC

A61B 34/00; A61B 34/37

(52) CPC

A61B Diagnosis; surgery; identification: 34/37, 1/00149, 1/015, 17/320016, 18/00, 2017/00725, 2018/00547, 2018/00577, 2034/2048, 2034/2055, 2034/2059, 2034/2065, 2034/301, 2034/303, 2090/065, 2090/378, 2090/571, 2217/005, 2217/007, 34/20, 34/25, 34/30, 34/32, 34/74, 5/055, 50/13, 6/487, 8/08, 8/12, 90/06, 90/361, 90/37, 90/50

(73) Assignee

Procept Biorobotics Corp

(72) Inventors

Surag Mantri; Nikolai Aljuri; Kevin Patrick STAID; Jason Hemphill; Keegan Mik; Alex Hsia

(54) Title

Robotic arms and methods for tissue resection and imaging

(57) Abstract

A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm.

Full text

View on Google Patents

Claims (17)

A system of treating or imaging a target tissue of a patient, said system comprising: a probe sized for insertion into the patient; a robotic arm configured to couple to the probe; one or more computing devices operatively coupled to the robotic arm and configured with instructions for: receiving an angular range of motion and a fulcrum location generated by a user manually manipulating the probe with the angular range of motion about the fulcrum location with the probe inserted into the patient while the robotic arm is in a passive mode; establishing a restriction on an allowable range of motion for the probe, the restriction comprising the fulcrum location and the angular range of motion about the fulcrum location with the probe inserted into the patient wherein the restriction is stored on a memory of the one or more computing devices; treating or imaging the target tissue of the patient with the probe; and moving the robotic arm to affect movement of the probe within the allowable range of motion of the probe.
The system of claim 1, wherein the probe is configured to couple to the robotic arm while the robotic arm is in the passive mode.
The system of claim 1, wherein establishing the fulcrum location and the allowable angular range of motion about the fulcrum location for the probe comprises establishing the allowable range of motion for the probe in response to a position of the probe.
The system of claim 3, wherein the position of the probe relative to the target tissue is determined in response to one or more tissue landmarks in one or more images of the target tissue.
The system of claim 1, further comprising updating the fulcrum location and the allowable angular range of motion about the fulcrum location for the probe in real-time.
The system of claim 1, further comprising a user input device operably coupled with the one or more computing devices to provide one or more user instructions for controlling movement of the robotic arm, and wherein moving the robotic arm under control of the one or more computing devices comprises moving the robotic arm in response to the one or more user instructions for controlling movement of the robotic arm.
The system of claim 6, wherein the user input device comprises one or more of a controller near the end of the robotic arm, a user interface on a display screen, a user interface on a console, or a controller that responds to forces on the end of the arm provided by the user to guide the probe on the robotic arm into position.
The system of claim 1, further comprising one or more force sensors operably coupled with the probe and the one or more computing devices to detect compression of a tissue of the patient with the probe.
The system of claim 8, wherein the one or more computing devices comprise a processor configured with instructions to interrupt a treatment in response to a detected compression of the tissue exceeding a predetermined threshold level of compression.
The system of claim 8, wherein the one or more force sensors are operatively coupled to the robotic arm.
The system of claim 10, further comprising one or more motion sensors operably coupled with the probe and the one or more computing devices to detect movement of the patient, and wherein the one or more computing devices are configured to adjust a position of the probe in response to the detected movement of the patient.
The system of claim 1, wherein in the passive mode the probe is supported with the robotic arm and the probe comprises a plurality of sensors at an interface between the robotic arm and the probe to receive user input from a handle coupled to the plurality of sensors for the user to direct the probe.
The system of claim 12, wherein the handle coupled to the plurality of sensors is configured to receive user manipulations of the handle and the plurality of sensors at the interface is coupled to a processor of the one or more computing devices to manipulate the probe in response to the user manipulations of the handle.
The system of claim 13, wherein the plurality of sensors is configured to detect user manipulations of the handle with 6 degrees of freedom and wherein the processor is configured to move the probe with 6 degrees of freedom with motion corresponding to the 6 degrees in response to the user manipulations.
The system of claim 1, wherein to manually manipulate in the passive mode comprises manually adjusting the probe in one or more of at least one rotational axis or at least one translational axis.
The system of claim 15, wherein the at least one rotation axis comprises a first rotational axis, a second rotational axis orthogonal to the first rotational axis, and a third rotational axis orthogonal to the first and second rotational axes, and wherein the at least one translational axis comprises a first translational axis, a second translational axis orthogonal to the first translational axis, and a third translational axis orthogonal to the first and second translational axes.
The system of claim 16, wherein the first rotational axis comprises a pitch axis, the second rotational axis comprises a yaw axis, the third rotational axis comprises a roll axis, the first translational axis comprises an X-axis, the second translational axis comprises a Y-axis, and the third translational axis comprises a Z-axis.

Description

The field of the present disclosure is related to the treatment of tissue with energy, and more specifically to the treatment of an organ such as the prostate with fluid stream energy.

Prior methods and apparatus of treating subjects such as patients can result in less than ideal tissue removal in at least some instances. For example, prior methods of prostate surgery can result in longer healing time and less than desirable outcome than would be ideal in at least some instances.

Prior methods and apparatus of imaging tissue can be less than ideal for imaging a treated tissue. For example, prior ultrasound methods and apparatus may not be well suited to view the treatment site during treatment, and alignment of diagnostic images with treatment images can be less than ideal. Also, at least some of the prior treatment methods and apparatus of treating tissue may not be well suited from combination with imaging systems of the prior art. In at least some instances, it would be helpful to provide improved imaging of tissue during surgery, for example to provide real time imaging of tissue that would allow a user to adjust the treatment based on real time images of the tissue. At least some of the prior methods and apparatus to image tissue during surgery can be somewhat cumbersome to use, and can result in delays in the patient treatment.

Prior methods and apparatus to treat an organ such as the prostate may provide a user interface that is somewhat cumbersome for the user, and can provide less than ideal planning of the surgery.

Citations (163)

US4389071A
US4561798A
US4932956A
US5876325A
JPH07136173A
US6039695A
US6331181B1
US6338714B1
US8062246B2
US6375635B1
US20040230211A1
US20020121577A1
NL1019547C1
US20060205996A1
US7021173B2
US20040024311A1
US20040034282A1
US20060142657A1
WO2004004914A1
EP1486900A1
US20130239392A1
US20060118495A1
US20080009747A1
US20100036245A1
CN101394877A
US20100010524A1
US20090306692A1
US8398541B2
US20080027420A1
US8660635B2
US20090326489A1
US20110184391A1
WO2008083407A1
US7882841B2
US20110282356A1
US8152816B2
US8229188B2
US20090227998A1
US8814921B2
WO2009111736A1
US10646295B2
US9610131B2
US9144461B2
JP2010142575A
US20160143778A1
US9364251B2
US20150088107A1
US9277969B2
US9072452B2
CN102905633A
WO2011097505A1
US20120035462A1
US10555780B2
US20120071894A1
US8827948B2
US10130427B2
US8961533B2
US9314306B2
US20120095498A1
US20140039314A1
US10423757B2
US20140194896A1
US20140094968A1
WO2013053614A1
US20130218186A1
WO2013130895A1
US20170245878A1
US20170105785A1
US20150173726A1
US9877788B2
US20200138454A1
US20140142438A1
US10231867B2
US20140309649A1
US20190151148A1
WO2014127242A2
US9867635B2
US20150025539A1
US20190201214A1
WO2014165703A1
US20160100898A1
US20190021753A1
JP2019055287A
CN105764436A
US20180263647A1
WO2015035249A2
US20150080907A1
US20190336238A1
US10448956B2
US20200020249A1
US20160302653A1
CN105848552A
JP2015123201A
US20170014269A1
US20190105117A1
US10555785B2
US20190321119A1
US10226298B2
US20150366546A1
WO2015200538A1
WO2016004071A1
WO2016037132A1
WO2016037137A1
US20190105023A1
US20160067450A1
WO2016054256A1
US9737371B2
US20170245949A1
US20170273797A1
US20180263685A1
US20180028261A1
US20160262827A1
US20190262057A1
WO2016187290A1
US10779897B2
US11278451B2
US10441371B2
US20180318011A1
US10307214B2
US20190015166A1
US20170189127A1
US20170202537A1
WO2017161331A1
WO2017192603A1
US20190142396A1
US20190231450A1
WO2018013848A1
US20180014891A1
US20180021960A1
US20190223967A1
US20200008874A1
WO2018216382A1
US20200197108A1
JP2018198750A
US20180353253A1
WO2019032986A1
US20190076674A1
US20200360097A1
US20190202066A1
WO2019137665A1
WO2019246580A1
CN109662779A
US20200261297A1
WO2020180724A1
WO2020181290A1
WO2020181278A1
WO2020181280A1
US20200360100A1
WO2020181281A1
US20200405403A1
US11590319B2
US20210030496A1
US20220273166A1
US20210137612A1
US11071601B2
US20210378766A1
WO2021130229A1
CN111449694A
US20210401521A1
US20210401522A1
US11096753B1
US11771512B2
US11357586B2

Record as JSON

{
  "publication_number": "US12089907B2",
  "country": "US",
  "kind": "B2",
  "title": "Robotic arms and methods for tissue resection and imaging",
  "abstract": "A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm.",
  "claims": [
    "1. A system of treating or imaging a target tissue of a patient, said system comprising: a probe sized for insertion into the patient; a robotic arm configured to couple to the probe; one or more computing devices operatively coupled to the robotic arm and configured with instructions for: receiving an angular range of motion and a fulcrum location generated by a user manually manipulating the probe with the angular range of motion about the fulcrum location with the probe inserted into the patient while the robotic arm is in a passive mode; establishing a restriction on an allowable range of motion for the probe, the restriction comprising the fulcrum location and the angular range of motion about the fulcrum location with the probe inserted into the patient wherein the restriction is stored on a memory of the one or more computing devices; treating or imaging the target tissue of the patient with the probe; and moving the robotic arm to affect movement of the probe within the allowable range of motion of the probe.",
    "2. The system of claim 1, wherein the probe is configured to couple to the robotic arm while the robotic arm is in the passive mode.",
    "3. The system of claim 1, wherein establishing the fulcrum location and the allowable angular range of motion about the fulcrum location for the probe comprises establishing the allowable range of motion for the probe in response to a position of the probe.",
    "4. The system of claim 3, wherein the position of the probe relative to the target tissue is determined in response to one or more tissue landmarks in one or more images of the target tissue.",
    "5. The system of claim 1, further comprising updating the fulcrum location and the allowable angular range of motion about the fulcrum location for the probe in real-time.",
    "6. The system of claim 1, further comprising a user input device operably coupled with the one or more computing devices to provide one or more user instructions for controlling movement of the robotic arm, and wherein moving the robotic arm under control of the one or more computing devices comprises moving the robotic arm in response to the one or more user instructions for controlling movement of the robotic arm.",
    "7. The system of claim 6, wherein the user input device comprises one or more of a controller near the end of the robotic arm, a user interface on a display screen, a user interface on a console, or a controller that responds to forces on the end of the arm provided by the user to guide the probe on the robotic arm into position.",
    "8. The system of claim 1, further comprising one or more force sensors operably coupled with the probe and the one or more computing devices to detect compression of a tissue of the patient with the probe.",
    "9. The system of claim 8, wherein the one or more computing devices comprise a processor configured with instructions to interrupt a treatment in response to a detected compression of the tissue exceeding a predetermined threshold level of compression.",
    "10. The system of claim 8, wherein the one or more force sensors are operatively coupled to the robotic arm.",
    "11. The system of claim 10, further comprising one or more motion sensors operably coupled with the probe and the one or more computing devices to detect movement of the patient, and wherein the one or more computing devices are configured to adjust a position of the probe in response to the detected movement of the patient.",
    "12. The system of claim 1, wherein in the passive mode the probe is supported with the robotic arm and the probe comprises a plurality of sensors at an interface between the robotic arm and the probe to receive user input from a handle coupled to the plurality of sensors for the user to direct the probe.",
    "13. The system of claim 12, wherein the handle coupled to the plurality of sensors is configured to receive user manipulations of the handle and the plurality of sensors at the interface is coupled to a processor of the one or more computing devices to manipulate the probe in response to the user manipulations of the handle.",
    "14. The system of claim 13, wherein the plurality of sensors is configured to detect user manipulations of the handle with 6 degrees of freedom and wherein the processor is configured to move the probe with 6 degrees of freedom with motion corresponding to the 6 degrees in response to the user manipulations.",
    "15. The system of claim 1, wherein to manually manipulate in the passive mode comprises manually adjusting the probe in one or more of at least one rotational axis or at least one translational axis.",
    "16. The system of claim 15, wherein the at least one rotation axis comprises a first rotational axis, a second rotational axis orthogonal to the first rotational axis, and a third rotational axis orthogonal to the first and second rotational axes, and wherein the at least one translational axis comprises a first translational axis, a second translational axis orthogonal to the first translational axis, and a third translational axis orthogonal to the first and second translational axes.",
    "17. The system of claim 16, wherein the first rotational axis comprises a pitch axis, the second rotational axis comprises a yaw axis, the third rotational axis comprises a roll axis, the first translational axis comprises an X-axis, the second translational axis comprises a Y-axis, and the third translational axis comprises a Z-axis."
  ],
  "description_excerpt": "The field of the present disclosure is related to the treatment of tissue with energy, and more specifically to the treatment of an organ such as the prostate with fluid stream energy.\n\nPrior methods and apparatus of treating subjects such as patients can result in less than ideal tissue removal in at least some instances. For example, prior methods of prostate surgery can result in longer healing time and less than desirable outcome than would be ideal in at least some instances.\n\nPrior methods and apparatus of imaging tissue can be less than ideal for imaging a treated tissue. For example, prior ultrasound methods and apparatus may not be well suited to view the treatment site during treatment, and alignment of diagnostic images with treatment images can be less than ideal. Also, at least some of the prior treatment methods and apparatus of treating tissue may not be well suited from combination with imaging systems of the prior art. In at least some instances, it would be helpful to provide improved imaging of tissue during surgery, for example to provide real time imaging of tissue that would allow a user to adjust the treatment based on real time images of the tissue. At least some of the prior methods and apparatus to image tissue during surgery can be somewhat cumbersome to use, and can result in delays in the patient treatment.\n\nPrior methods and apparatus to treat an organ such as the prostate may provide a user interface that is somewhat cumbersome for the user, and can provide less than ideal planning of the surgery.",
  "cpc": [
    "A61B 34/37",
    "A61B 1/00149",
    "A61B 1/015",
    "A61B 17/320016",
    "A61B 18/00",
    "A61B 2017/00725",
    "A61B 2018/00547",
    "A61B 2018/00577",
    "A61B 2034/2048",
    "A61B 2034/2055",
    "A61B 2034/2059",
    "A61B 2034/2065",
    "A61B 2034/301",
    "A61B 2034/303",
    "A61B 2090/065",
    "A61B 2090/378",
    "A61B 2090/571",
    "A61B 2217/005",
    "A61B 2217/007",
    "A61B 34/20",
    "A61B 34/25",
    "A61B 34/30",
    "A61B 34/32",
    "A61B 34/74",
    "A61B 5/055",
    "A61B 50/13",
    "A61B 6/487",
    "A61B 8/08",
    "A61B 8/12",
    "A61B 90/06",
    "A61B 90/361",
    "A61B 90/37",
    "A61B 90/50"
  ],
  "ipc": [
    "A61B 34/00",
    "A61B 34/37"
  ],
  "assignees": [
    "Procept Biorobotics Corp"
  ],
  "inventors": [
    "Surag Mantri",
    "Nikolai Aljuri",
    "Kevin Patrick STAID",
    "Jason Hemphill",
    "Keegan Mik",
    "Alex Hsia"
  ],
  "filing_date": "2020-07-27",
  "publication_date": "2024-09-17",
  "grant_date": "2024-09-17",
  "priority_date": "2019-03-07",
  "application_number": "US-202016940100-A",
  "family_id": "72338448",
  "cited_by_count": 2,
  "citations": [
    "US4389071A",
    "US4561798A",
    "US4932956A",
    "US5876325A",
    "JPH07136173A",
    "US6039695A",
    "US6331181B1",
    "US6338714B1",
    "US8062246B2",
    "US6375635B1",
    "US20040230211A1",
    "US20020121577A1",
    "NL1019547C1",
    "US20060205996A1",
    "US7021173B2",
    "US20040024311A1",
    "US20040034282A1",
    "US20060142657A1",
    "WO2004004914A1",
    "EP1486900A1",
    "US20130239392A1",
    "US20060118495A1",
    "US20080009747A1",
    "US20100036245A1",
    "CN101394877A",
    "US20100010524A1",
    "US20090306692A1",
    "US8398541B2",
    "US20080027420A1",
    "US8660635B2",
    "US20090326489A1",
    "US20110184391A1",
    "WO2008083407A1",
    "US7882841B2",
    "US20110282356A1",
    "US8152816B2",
    "US8229188B2",
    "US20090227998A1",
    "US8814921B2",
    "WO2009111736A1",
    "US10646295B2",
    "US9610131B2",
    "US9144461B2",
    "JP2010142575A",
    "US20160143778A1",
    "US9364251B2",
    "US20150088107A1",
    "US9277969B2",
    "US9072452B2",
    "CN102905633A",
    "WO2011097505A1",
    "US20120035462A1",
    "US10555780B2",
    "US20120071894A1",
    "US8827948B2",
    "US10130427B2",
    "US8961533B2",
    "US9314306B2",
    "US20120095498A1",
    "US20140039314A1",
    "US10423757B2",
    "US20140194896A1",
    "US20140094968A1",
    "WO2013053614A1",
    "US20130218186A1",
    "WO2013130895A1",
    "US20170245878A1",
    "US20170105785A1",
    "US20150173726A1",
    "US9877788B2",
    "US20200138454A1",
    "US20140142438A1",
    "US10231867B2",
    "US20140309649A1",
    "US20190151148A1",
    "WO2014127242A2",
    "US9867635B2",
    "US20150025539A1",
    "US20190201214A1",
    "WO2014165703A1",
    "US20160100898A1",
    "US20190021753A1",
    "JP2019055287A",
    "CN105764436A",
    "US20180263647A1",
    "WO2015035249A2",
    "US20150080907A1",
    "US20190336238A1",
    "US10448956B2",
    "US20200020249A1",
    "US20160302653A1",
    "CN105848552A",
    "JP2015123201A",
    "US20170014269A1",
    "US20190105117A1",
    "US10555785B2",
    "US20190321119A1",
    "US10226298B2",
    "US20150366546A1",
    "WO2015200538A1",
    "WO2016004071A1",
    "WO2016037132A1",
    "WO2016037137A1",
    "US20190105023A1",
    "US20160067450A1",
    "WO2016054256A1",
    "US9737371B2",
    "US20170245949A1",
    "US20170273797A1",
    "US20180263685A1",
    "US20180028261A1",
    "US20160262827A1",
    "US20190262057A1",
    "WO2016187290A1",
    "US10779897B2",
    "US11278451B2",
    "US10441371B2",
    "US20180318011A1",
    "US10307214B2",
    "US20190015166A1",
    "US20170189127A1",
    "US20170202537A1",
    "WO2017161331A1",
    "WO2017192603A1",
    "US20190142396A1",
    "US20190231450A1",
    "WO2018013848A1",
    "US20180014891A1",
    "US20180021960A1",
    "US20190223967A1",
    "US20200008874A1",
    "WO2018216382A1",
    "US20200197108A1",
    "JP2018198750A",
    "US20180353253A1",
    "WO2019032986A1",
    "US20190076674A1",
    "US20200360097A1",
    "US20190202066A1",
    "WO2019137665A1",
    "WO2019246580A1",
    "CN109662779A",
    "US20200261297A1",
    "WO2020180724A1",
    "WO2020181290A1",
    "WO2020181278A1",
    "WO2020181280A1",
    "US20200360100A1",
    "WO2020181281A1",
    "US20200405403A1",
    "US11590319B2",
    "US20210030496A1",
    "US20220273166A1",
    "US20210137612A1",
    "US11071601B2",
    "US20210378766A1",
    "WO2021130229A1",
    "CN111449694A",
    "US20210401521A1",
    "US20210401522A1",
    "US11096753B1",
    "US11771512B2",
    "US11357586B2"
  ]
}

Record 376 of 8,000 in Patents full text (MLC-0201). Request the full dataset.