Apparatus for robotic surgery

Patent metadata

Field	Value
Publication number	US-2016296293-A1
Application number	US-201415038544-A
Country	US
Kind code	A1
Filing date	Nov 21, 2014
Priority date	Nov 22, 2013
Publication date	Oct 13, 2016
Grant date	—

Abstract

Surgical apparatus is described that includes a surgical robot having a moveable arm for carrying a surgical tool. The apparatus also has x-ray imaging apparatus that includes at least one of an x-ray source and an x-ray detector. The moveable arm of the surgical robot is configured to carry at least one of the x-ray source and the x-ray detector. In this manner, the surgical robot can be used to perform x-ray imaging to allow patient registration. Methods of using the apparatus are also described.

First claim

1 . Surgical apparatus comprising;
a surgical robot having a moveable arm for carrying a surgical tool, and x-ray imaging apparatus including at least one of an x-ray source and an x-ray detector, wherein the moveable arm of the surgical robot is configured to carry at least one of the x-ray source and the x-ray detector.

2 . An apparatus according to claim 1 , wherein the x-ray imaging apparatus comprises an x-ray source and the moveable arm is configured to carry the x-ray source.

3 . An apparatus according to claim 2 , wherein, during use, the moveable arm is configured to move the x-ray source into a plurality of positions relative to the subject to allow a plurality of x-ray images to be acquired from a plurality of different perspectives.

4 . An apparatus according to claim 1 , wherein the surgical robot comprises a releasable attachment mechanism that allows at least one of the x-ray source and the x-ray detector to be attached to the moveable arm when x-ray imaging is to be performed.

5 . An apparatus according to claim 4 , wherein a tool holder is provided at the distal end of the moveable arm for retaining a surgical tool in a repeatable position, wherein the tool holder also provides the releasable attachment mechanism for attaching at least one of the x-ray source and the x-ray detector to the moveable arm.

6 . An apparatus according to claim 1 , wherein the x-ray imaging apparatus includes at least one x-ray detector comprising a digital x-ray plate.

7 . An apparatus according to claim 6 , wherein the at least one x-ray detector comprises a fiducial marker unit located adjacent the digital x-ray plate, the fiducial marker unit comprising a plurality of x-ray visible fiducial markers having a known position relative to the digital x-ray plate.

8 . An apparatus according to claim 1 , comprising a frame for attachment to a subject, wherein the x-ray imaging apparatus includes at least one x-ray detector that is attachable to the frame.

9 . An apparatus according to claim 1 , wherein the moveable arm comprises a plurality of motorised joints and a plurality of position encoders for measuring the position of a reference point at the distal end of the moveable arm in a coordinate system of the surgical robot.

10 . An apparatus according to claim 1 , comprising an analyser for analysing one or more x-ray images acquired by the x-ray imaging apparatus, wherein the apparatus includes one or more x-ray visible fiducial markers and the analyser is arranged to analyse the one or more x-ray images to determine the position of the x-ray visible fiducial markers in a coordinate system of the surgical robot.

11 . An apparatus according to claim 10 , wherein the one or more x-ray visible fiducial markers comprise a plurality of bone attachable fiducial markers for direct attachment to a bone of a subject.

12 . An apparatus according to claim 10 , comprising a head clamp for attachment to the head of a subject, wherein the one or more x-ray visible fiducial markers comprise a plurality of x-ray visible fiducial markers attached to the head clamp.

13 . An apparatus according to claim 10 , wherein at least some of the plurality of x-ray visible fiducial markers have a predetermined positional relationship.

14 . An apparatus according claim 1 , wherein the surgical robot comprises a neurosurgical robot.

15 . A kit for adapting a surgical robot to perform x-ray imaging, the surgical robot comprising a moveable arm for carrying a surgical tool, wherein the kit comprises an x-ray source and at least one x-ray detector, wherein the x-ray source or the x-ray detector is adapted to be carried by the moveable arm.

Assignees

• Renishaw Plc

Inventors

• Gill Steven Streatfield
• Mcfarland Geoffrey
• Harrison Robert Neil
• Fielder Paul David

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B2090/363

  Use of fiducial points · CPC title

• A61B2090/3916

  Bone tissue · CPC title