Integrated medical imaging and surgical robotic system

Patent metadata

Field	Value
Publication number	US-2016302871-A1
Application number	US-201615130258-A
Country	US
Kind code	A1
Filing date	Apr 15, 2016
Priority date	Apr 15, 2015
Publication date	Oct 20, 2016
Grant date	—

Abstract

Methods and systems for performing robotically-assisted surgery in conjunction with intra-operative imaging. A method includes moving a robotic arm with respect to a patient and an imaging device to move an end effector of the robotic arm to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device. The robotic arm maintains the end effector in the pre-determined position and orientation with respect to the patient and does not collide with the imaging device or with the patient when the imaging device moves with respect to the patient.

First claim

What is claimed is:

1 . A method of performing robotically-assisted surgery, comprising:
moving a robotic arm with respect to a patient and an imaging device to move an end effector of the robotic arm to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device, wherein the robotic arm maintains the end effector in the pre-determined position and orientation with respect to the patient and does not collide with the imaging device or with the patient when the imaging device moves with respect to the patient.

2 . The method of claim 1 , further comprising:
determining that the imaging device is moving with respect to the patient; and moving the robotic arm to maintain the end effector in the pre-determined position and orientation with respect to the patient while preventing the robotic arm from colliding with the imaging device or with the patient while the imaging device moves with respect to the patient.

3 . The method of claim 1 , wherein the robotic arm is moved using inverse kinematics.

4 . The method of claim 1 , wherein the robotic arm comprises a multijoint arm.

5 . The method of claim 4 , wherein the end effector comprises a hollow tube or cannula for defining a trajectory between an entrance point on the exterior of the patient and a target point inside the patient.

6 . The method of claim 5 , wherein the end effector is configured to receive and guide an invasive surgical tool.

7 . The method of claim 5 , wherein the end effector comprises a radiolucent material.

8 . The method of claim 1 , wherein the pre-determined position and orientation of the end effector with respect to the patient is determined based on a user selection of an entrance point and a target point in a display of the imaging data of the patient obtained by the imaging device.

9 . The method of claim 1 , wherein the imaging device comprises a gantry containing at least one imaging component and defining a bore.

10 . The method of claim 9 , wherein the imaging device comprises an x-ray computed tomography (CT) scanning device.

11 . The method of claim 9 , wherein the imaging device comprises a base, a support column extending above the base and a patient support mounted to the support column, wherein the gantry is located above the base.

12 . The method of claim 11 , wherein the gantry translates relative to the base.

13 . The method of claim 11 , wherein the gantry tilts relative to the base.

14 . The method of claim 11 , wherein the patient support translates and/or rotates with respect to the base.

15 . The method of claim 1 , further comprising:
tracking the position of at least one of the robotic arm and the imaging device using a motion tracking apparatus.

16 . The method of claim 15 , wherein the motion tracking apparatus comprises at least one marker fixed to the robotic arm and/or the imaging device and a sensing device that detects radiation emitted or reflected by the at least one marker.

17 . The method of claim 16 , wherein the at least one marker comprises an active or passive optical marker and the sensing device comprises a camera.

18 . The method of claim 17 , wherein the camera is attached to the imaging device.

19 . The method of claim 18 , wherein the camera moves independently of the movement of the imaging device to maintain a surgical area of the patient within the field of view of the camera.

20 . The method of claim 17 , wherein the camera is attached to a patient support.

21 . The method of claim 16 , wherein at least one marker is fixed to at least one surgical tool, and the motion tracking apparatus tracks the position of the at least one surgical tool within the surgical area.

22 . The method of claim 21 , wherein the motion tracking apparatus tracks the depth of insertion of a surgical tool into the patient.

23 . The method of claim 22 , further comprising displaying the depth of insertion of the surgical tool overlaying a display of the imaging data obtained by the imaging device.

24 . The method of claim 16 , wherein the motion tracking apparatus is configured to detect a movement of the end effector from the pre-determined position and orientation with respect to the patient.

25 . The method of claim 16 , wherein the motion tracking apparatus is configured to detect a movement of the end effector from the pre-determined position and orientation with respect to the patient.

26 . The method of claim 25 , further comprising at least one of notifying a user and stopping the motion of the imaging device in response to detecting a movement of the end effector from the pre-determined position and orientation with respect to the patient.

27 . The method of claim 16 , wherein at least one marker is fixed to the patient, and the motion tracking apparatus tracks the motion of the patient.

28 . The method of claim 27 , further comprising:
moving the end effector of the robotic arm to compensate for a detected movement of the patient.

29 . The method of claim 15 , wherein the position of the robotic arm with respect to the patient and the imaging device is determined based on position data received from at least one of the motion tracking apparatus and the imaging device.

30 . The method of claim 29 , wherein the robotic arm, the imaging device and the motion tracking apparatus operate in a common coordinate system.

31 . The method of claim 15 , further comprising generating a boundary surface encompassing at least a portion of the patient, wherein the movements of the robotic arm are controlled such that no portion of the robotic arm may enter the boundary surface.

32 . The method of claim 31 , wherein the boundary surface is generated based on a freehand tracing of the at least a portion of the patient using the robotic arm.

33 . The method of claim 31 , wherein the boundary surface is generated by tracking a plurality of markers on the patient using the motion tracking apparatus.

34 . The method of claim 2 , further comprising:
determining that it is not possible to move the robotic arm without either changing the position or orientation of the end effector with respect to the patient or colliding with the imaging device or the patient, and based on this determination, performing operations comprising at least one of: issuing an alert to a user; and stopping the motion of the imaging device with respect to the patient.

35 . The method of claim 1 , wherein the robotic arm is attached to the imaging device.

36 . The method of claim 35 , wherein a first end of the robotic arm is attached to a gantry of the imaging device that moves with respect to the patient, and the end effector is located at a second end of the robotic arm.

37 . The method of claim 1 , wherein the robotic arm is attached to a patient support.

38 . The method of claim 37 , wherein the robotic arm is attached to a surgical rail of a patient support.

39 . The method of claim 1 , wherein the robotic arm is removably attached to at least one of the imaging device and a patient support.

40 . Th

Assignees

• Mobius Imaging Llc

Inventors

• Gregerson Eugene A
• Sebring Paul
• Stanton Russell
• Coppen Scott
• Harris Adeline
• Furlong Todd
• Baker Jeff

Classifications

• A61B5/064

  using markers (A61B5/062 takes precedence) · CPC title

• A61B5/0036

  including treatment, e.g., using an implantable medical device, ablating, ventilating · CPC title

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title

• A61B6/547

  involving tracking of position of the device or parts of the device · CPC title

• A61B6/5264

  due to motion · CPC title