Integrated Medical Imaging And Surgical Robotic System

Patent metadata

Field	Value
Publication number	US-2021106391-A1
Application number	US-202017131386-A
Country	US
Kind code	A1
Filing date	Dec 22, 2020
Priority date	Apr 15, 2015
Publication date	Apr 15, 2021
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 as new and desired to be protected by Letters Patent of the United States is:

1 . A method of performing robotically-assisted surgery, comprising:
moving an end effector and a robotic arm operatively attached with an imaging device with respect to a patient and the imaging device to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device; moving the imaging device and the robotic arm relative to the patient by effecting linear translation along a base of the imaging device, moving the imaging device and the robotic arm linearly relative to the patient; detecting a movement of the imaging device relative to the patient; and obtaining an intraoperative image of the patient while moving the robotic arm, avoiding collisions with the imaging device and with the patient in response to detecting a movement of the imaging device relative to the patient.

2 . The method of claim 1 , wherein the robotic arm comprises a multijoint arm and is moved using inverse kinematics.

3 . The method of claim 1 , wherein the end effector is configured to receive and guide an invasive surgical tool.

4 . 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.

5 . The method of claim 1 , wherein the imaging device comprises a gantry containing at least one imaging component and defining a bore, the imaging component including an x-ray computed tomography (CT) scanning device.

6 . The method of claim 5 , wherein a support column extends above the base, and a patient support is mounted to the support column, wherein the gantry is located above the base; and
wherein the gantry translates and tilts relative to the base.

7 . The method of claim 1 , further comprising:
tracking a position of at least one of the robotic arm and the imaging device using a motion tracking apparatus; wherein the motion tracking apparatus comprises at least one marker fixed to the robotic arm and the imaging device and a sensing device that detects radiation emitted or reflected by the at least one marker; wherein the sensing device is attached to the imaging device and moves independently of the movement of the imaging device to maintain a surgical area of the patient within a field of view of the sensing device; and 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.

8 . The method of claim 7 , 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; and
wherein the robotic arm, the imaging device and the motion tracking apparatus operate in a common coordinate system.

9 . The method of claim 7 , further comprising generating a boundary surface encompassing at least a portion of the patient, wherein movements of the robotic arm are controlled such that no portion of the robotic arm may enter the boundary surface; and
wherein the boundary surface is generated by tracking a plurality of markers on the patient using the motion tracking apparatus.

10 . The method of claim 9 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.

11 . The method of claim 1 , further comprising:
determining that there are no movements of the robotic arm that would not result in 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 motion of the imaging device with respect to the patient.

12 . A system for performing robotically-assisted surgery, comprising:
a robotic arm having an arm base and an end effector; an imaging device including a base and a gantry, the gantry is connected with the arm base and translates along the base and a length of a patient to obtain imaging data of the patient; and a processor coupled to the robotic arm and configured with processor executable instructions to perform operations comprising:
controlling the robotic arm to move the end effector to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device;
detecting a movement of the imaging device relative to the patient; and
moving the robotic arm while avoiding collisions with the imaging device and with the patient in response to detecting a movement of the imaging device relative to the patient during an intraoperative scan.

13 . The system of claim 12 further comprising a patient support, and the imaging device linearly translates along the base and a length of the patient support to obtain imaging data of a patient positioned on the patient support.

14 . The system of claim 13 further comprising a motion tracking apparatus comprising a camera operatively attached to the imaging device that is configured to track objects in a surgical area, including at least the patient and the robotic arm; and
wherein the camera moves relative to the patient support to maintain the surgical area in a field of view of the camera.

15 . A system for performing robotically-assisted surgery, comprising:
an x-ray imaging device comprising a base and a support structure, the support structure configured to linearly translate along the base, the support structure including an x-ray source and an x-ray detector mounted to the support structure such that at least one of the x-ray source and the x-ray detector is configured to rotate with respect to the support structure to obtain x-ray images from different projection angles relative to an object being imaged; and a robotic arm having a first end configured to extend into an imaging area between the x-ray source and the x-ray detector and a second end attached to the support structure; wherein the at least one of the x-ray source and the x-ray detector is configured to rotate around two mutually perpendicular axes with respect to the support structure and the second end of the robotic arm; and wherein the robotic arm moves with the support structure relative to the base when the support structure moves to obtain x-ray images while the x-ray imaging device obtains x-ray images from different projection angles relative to the object being imagined.

16 . The system of claim 15 , wherein the at least one of the x-ray source and the x-ray detector is configured to translate in at least one direction with respect to a first portion of the support structure, and the second end of the robotic arm is attached to a second portion of the support structure that translates with the at least one of the x-ray source and the x-ray detector relative to the first portion of the support structure.

17 . The system of claim 16 , further comprising:
a first support member extending from the support structure over at least a portion of an outer circumference of an imaging gantry containing the x-ray source and the x-ray detector, wherein the second e

Assignees

• Mobius Imaging Llc

Inventors

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

Classifications

• A61B5/704

  Tables · CPC title

• A61B2505/05

  Surgical care · CPC title

• A61B2090/3937

  Visible markers · CPC title

• A61B2090/3762

  using computed tomography systems [CT] · CPC title

• A61B2090/376

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