Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/30—Surgical robots
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
  • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
  • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
  • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
  • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
  • A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
  • A61B10/02—Instruments for taking cell samples or for biopsy
  • A61B10/0233—Pointed or sharp biopsy instruments
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
  • A61B2034/107—Visualisation of planned trajectories or target regions
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B2034/2046—Tracking techniques
  • A61B2034/2059—Mechanical position encoders
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B2034/2046—Tracking techniques
  • A61B2034/2065—Tracking using image or pattern recognition
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/30—Surgical robots
  • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
  • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
  • A61B2090/363—Use of fiducial points
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
  • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
  • A61B2090/3966—Radiopaque markers visible in an X-ray image
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
  • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
  • A61B2090/3983—Reference marker arrangements for use with image guided surgery

Definitions

• the present disclosure generally relates to minimally invasive procedures requiring an interventional tool to be inserted into a patient along a defined tool trajectory through at a specific incision point, particularly minimally invasive neurosurgical procedures (e.g. a biopsy).
• the present disclosure more particularly relates a registration of remote center-of-motion ("RCM”) by a remote center-of- motion robot to planned incision point into the patient for accurately positioning and orienting the interventional tool along a planned tool trajectory.
• RCM remote center-of-motion
• Image guided brain biopsy allows surgeons to accurately target deep seated brain lesions in a minimally invasive manner.
• the patient's head is immobilized and registered to a pre-operative imaging scan (e.g., CT, MRI, US, etc.) using a tracking and localization system (e.g., optical, electromagnetic, mechanical or combination thereof).
• a pre-operative imaging scan e.g., CT, MRI, US, etc.
• a tracking and localization system e.g., optical, electromagnetic, mechanical or combination thereof.
• such registration is performed using markers placed on the skull of the patient and/or tracked manual pointers.
• an appropriate location of an incision point into the patient is identified by the surgeon for the biopsy.
• the surgeon then manually aligns the insertion angles of the tracked biopsy needle based on feedback from the image guided tracking system.
• image guidance tracking system confirms the needle trajectory and identifies when the correct insertion depth has been reached.
• image guidance systems as known in the art may provide a mechanical needle guide which the surgeon aligns to the planned tool trajectory prior to needle insertion.
• the present disclosure provides inventions using a robot mounted optical end- effector (e.g., laser pointer or an endoscope) for registering a remote center-of-motion (“RCM”) robot to an image of the patient during a minimally invasive procedure (e.g., a minimally invasive neurosurgical procedure).
• a robot mounted optical end- effector e.g., laser pointer or an endoscope
• RCM remote center-of-motion
• an exact position and orientation of a planned tool trajectory for performing the procedure is automatically defined in an accurate manner. This in turn allows for the surgeon to deploy the interventional tool in a precise, controlled manner with minimal risk of human error.
• One form of the inventions of the present disclosure is a robotic surgical system for a minimally invasive procedure involving a planned tool trajectory through a planned incision point into a patient.
• the robotic surgical system employs an optical end-effector (e.g., a laser point or an endoscope) and a RCM robot for rotating the optical end-effector about a remote center-of-motion defined by a structural configuration of the RCM robot.
• an optical end-effector e.g., a laser point or an endoscope
• a RCM robot for rotating the optical end-effector about a remote center-of-motion defined by a structural configuration of the RCM robot.
• the robotic surgical system further employs a robot controller for controlling an optical pointing by the RCM robot of the optical end-effector to one or more markers attached to the patient, and for controlling an axial alignment by the RCE robot of the optical end-effector to the planned tool trajectory as illustrated within a volume image of the patient based on a registration of the remote center-of-motion to the planned incision point as illustrated within the volume image of the patient derived from an optical pointing by the RCM robot of the optical end-effector to the registration marker(s) attached to the patient.
• a robot controller for controlling an optical pointing by the RCM robot of the optical end-effector to one or more markers attached to the patient, and for controlling an axial alignment by the RCE robot of the optical end-effector to the planned tool trajectory as illustrated within a volume image of the patient based on a registration of the remote center-of-motion to the planned incision point as illustrated within the volume image of the patient derived from an optical pointing by the RCM robot of the optical end-effector to the registration marker(
• a second form of the inventions of the present disclosure is a robotic surgical method for a minimally invasive procedure involving a planned tool trajectory through a planned incision point into a patient.
• the robotic surgical method involves a RCM robot optically pointing an optical end-effector to one or more markers attached to the patient, and a registration module deriving a registration of a remote center-of-motion to the planned incision point as illustrated within a volume image of the patient from the optical pointing by the RCM robot to the optical end-effector to the marker(s) attached to the patient,
• the remote center-of- motion is defined by a structural configuration of the RCM robot.
• the robotic surgical method further involves the RCM robot axially aligning the optical end-effector to the planned tool trajectory as illustrated within the volume image of the patient based on the registration by the registration module of the remote center- of-motion to the planned incision point as illustrated within the volume image of the patient.
• optical end-effector broadly encompasses any device serving as an end-effector of a robot and having optical capabilities for emitting and/or receiving any form of radiation
• RCM robot broadly encompasses any robot having a structural configuration defining a remote center-of-motion whereby the robot or a portion thereof is rotatable about a point spatially fixed from the robot.
• optical end-effector include, but are not limited to, any type of laser pointer and endoscope as known in the art and exemplary described herein
• RCM robot includes, but is not limited to, any type of concentric arc robot as known in the art and exemplary described herein.
• controller broadly encompasses all structural configurations of an application specific main board or an application specific integrated circuit housed within or linked to a workstation for controlling an application of various inventive principles of the present disclosure as subsequently described herein.
• the structural configuration of the controller may include, but is not limited to, processor(s), computer-usable/computer readable storage medium(s), an operating system, application module(s), peripheral device controller(s), slot(s) and port(s).
• Examples of the workstation include, but are not limited to, an assembly of one or more computing devices (e.g., a client computer, a desktop and a tablet), a display/monitor, and one or more input devices (e.g., a keyboard, joysticks and mouse).
• the term "application module” broadly encompasses a component of the controller consisting of an electronic circuit and/or an executable program (e.g., executable software and/firmware) for executing a specific application.
• controller For purposes of the inventions of the present disclosure, descriptive labeling of the a controller herein as a “robot” controller and an “imaging” controller serves to identify a particular controller as described and claimed herein without specifying or implying any additional limitation to the term "controller”.
• registration control module serves to identify a particular application module as described and claimed herein without specifying or implying any additional limitation to the term "application module”.
• FIG. 1 illustrates a first exemplary embodiment of a minimally invasive neurosurgical procedure in accordance with the inventive principles of the present disclosure.
• FIG. 2 illustrates flowcharts representative of an exemplary embodiment of an robotic image guidance method in accordance with the inventive principles of the present disclosure.
• FIGS. 3A-3D illustrate exemplary embodiments of registration markers in accordance with the inventive principles of the present disclosure.
• FIGS. 4A-4G illustrate an exemplary registration of a RCM robot to a patient in accordance with the inventive principles of the present disclosure.
• FIG. 5 illustrates a second exemplary embodiment of a minimally invasive neurosurgical procedure in accordance with the inventive principles of the present disclosure.
• FIG. 6 illustrates a third exemplary embodiment of a minimally invasive neurosurgical procedure in accordance with the inventive principles of the present disclosure.
• FIGS. 7 A and 7B illustrate exemplary embodiments of workstations in accordance with the inventive principles of the present disclosure.
• FIG. 1 teaches basic inventive principles of using a robot mounted laser pointer for registering a remote center-of-motion (“RCM”) robot to an image of a patient during a minimally invasive neurosurgical procedure. From this description, those having ordinary skill in the art will appreciate how to apply the inventive principles of the present disclosure to various optical end-effectors for registering a RCM robot to an image of a patient during any type of minimally invasive procedure.
• RCM remote center-of-motion
• an imaging phase of a minimally invasive biopsy utilizes an imaging controller 20, an imaging modality 22 (e.g., a CT, MRI or US imaging modality), and a communication path 23 (e.g., wired/wireless connection(s)) between imaging controller 20 and imaging modality 22.
• the image phase of the minimally invasive biopsy involves imaging controller 20 controlling a display of a generation by imaging modality 22 as known in the art of a volume image 21 illustrative of markers (symbolized as black dots) attached to a head of a patient 10 immobilized by a clamp 11.
• imaging controller 22a further controls a user planning within volume image 21 as known in the art a location of an incision point on the head of patient 10 (symbolized by a circle between the markers of volume image 21) and a tool trajectory through the incision point for purposes of reaching a target lesion within the head of patient 10 (symbolized by an X within the marker circle of volume 21 representing a tool trajectory perpendicular to the incision point). Still referring to FIG.
• a registration phase of the minimally invasive biopsy utilizes a robot platform 30, a RCM robot in the form of a concentric arc robot 40, an optical end-effector in the form a laser pointer 50, a robot controller 60a, and a communication path 63a (e.g., wire/wireless connection(s)) between robot controller 60a and a concentric arc robot 40, and between robot controller 60a and active embodiments of robot platform 30.
• a communication path 63a e.g., wire/wireless connection(s)
• robot platform broadly encompasses any platform structurally configured for moving a RCM robot of the present disclosure within a Cartersian coordinate system whereby a remote center-of- motion of may be moved to a desired point within the Cartesian coordinate system.
• robot platform 30 employs a base 31
• Robot platform 30 further employs a robot holding arm 34, and a joint 33 interconnecting robot holding arm 34 to post 32 whereby robot holding arm 34 is translatable, pivotable and/or extendable relative to post 32 within the Cartesian coordinate system.
• robot platform 30 may be passive in terms of a manual manipulation of post 32 and/or robot holding arm 34, or active in terms of a motorized post 32 and/or a motorized joint 33 controlled by robot controller 60a for commanding command a translation, a pivot and/or an extension of base 31 and/or robot holding arm 34 via communication path 63a.
• post 32 and/or or joint 33 may include encoders (not shown) for generating encoded signals informative of a pose of post 32 relative to base 31 and/or of a pose of robot holding arm 34 within the Cartesian coordinate system whereby robot controller 60a may track post 32 and/or robot holding arm 34.
• Concentric arc robot 40 employs a pitch arc 42 mechanically coupled to a pitch actuator 41, and mechanically coupled to or physically integrated with a yaw actuator 43.
• concentric arc robot 40 further includes a yaw arc 44 mechanically coupled to yaw actuator 43, and mechanically coupled to or physically integrated with an end-effector holder 45.
• Pitch actuator 41 includes an encoded motor (not shown) controllable by robot controller 60a via communication path 63a for selectively actuating pitch actuator 41 to simultaneously revolve pitch arc 42, yaw actuator 43, yaw arc 44, end-effector holder 45 and laser pointer 50 about a pitch axis PA of pitch actuator 41 as symbolized by the bidirectional arrow encircling pitch axis PA.
• Yaw actuator 43 includes an encoded motor (not shown) controllable by robot controller 60a via communication path 63a for selectively actuating yaw actuator 43 to thereby revolve yaw actuator 43, yaw arc 44, end-effector holder 45 and laser pointer 50 about a yaw axis YA of yaw actuator 41 as symbolized by the directional arrow encircling yaw axis YA.
• End-effector holder 45 is structurally configured as known in the art to hold laser pointer 50 whereby a laser beam LB emitted by laser pointer 50a is aligned with a longitudinal axis of end-effector holder 45.
• a relative orientation of pitch actuator 41, yaw actuator 43 and end-effector holder 45 defines a remote center-of- motion RCM as an intersection of pitch axis PA, yaw axis YA and the end-effector axis (represented by laser beam LB).
• robot controller 60a executes a servo module 61a as known in the art for strategically positioning remote center-of- motion RCM relative to the head of patient 10.
• robot controller 60a executes servo module 61a as known in the art for tactically orienting laser pointer 50 relative to the markers attached to the head of the patient 10.
• the registration phase of the minimally invasive biopsy involves robot controller 60a executes a registration module 62a for registering remote center-of-motion RCM to the location of the incision point within volume image 21 of the head of patient 10 whereby laser beam LA is aligned with the tool trajectory TT planned during the imaging phase.
• a registration module 62a for registering remote center-of-motion RCM to the location of the incision point within volume image 21 of the head of patient 10 whereby laser beam LA is aligned with the tool trajectory TT planned during the imaging phase.
• a biopsy phase of the minimally invasive biopsy involves a removal of laser pointer 50 from end effector holder 45 and an insertion of a tool guide 70 within end-effector holder 45. Based on the registered alignment of laser beam LB to the planned tool trajectory TT during the registration phase, a biopsy needle 71 may be deployed in a precise, controlled manner as measured by tool guide 70 to reach the target lesion within the head of patient 10.
• registration module 62a To facilitate a further understanding of registration module 62a, the following is a description of an imaging phase and registration phase of an exemplary robotic image guidance method of the present disclosure as shown in FIG. 2 in the context of the minimally invasive biopsy shown in FIG. 1. From this description, those having ordinary skill in the art will appreciate how to apply the inventive principles of the present disclosure for embodying a registration module applicable to any particular minimally invasive procedure and any particular structural configuration of a RCM robot and a robot platform of the present disclosure.
• FIG. 2 illustrates a flowchart 80 represents actions performed by a surgeon of the exemplary robotic image guidance method of the present disclosure, and a flowchart 100 represents actions performed by controllers of the exemplary robotic image guidance method of the present disclosure.
• a stage S82 of flowchart 80 encompasses a surgeon attaching radio opaque markers to patient 10 as known in the art
• a stage S84 of flowchart 80 encompasses the surgeon interfacing with imaging controller 20 whereby imaging modality 22 as controlled by imaging controller 20 during a stage SI 02 of flowchart 100 generates volume image 21 illustrative of the opaque markers attached to the head of patient 10.
• the markers may have an identical configuration, or each marker have a unique shapes to facilitate individual identification of the markets within volume image 21.
• FIG. 3A illustrates a radio opaque marker 130 having a star shape
• FIG. 3B illustrates a radio opaque marker 131 having a cross shape
• FIG. 3C illustrates a radio opaque marker 132 having a diamond shape
• FIG. 3D illustrates a radio opaque marker 133 having an hexagonal shape.
• a stage S86 of flowchart 80 encompasses the surgeon interfacing with image controller 20 during a stage SI 04 of flowchart 100 for planning the location of the incision point into the head of patient 20 within volume image 21 as known in the art and for planning the tool trajectory through the incision point to reach the lesion in the head of patient 20 within the volume image 21 as known in the art. Still referring to FIGS. 1 and 2, at the onset of the registration phase of FIG.
• a stage S88 of flowchart 80 encompasses the surgeon manually manipulating a passive robot platform 30 or interfacing with servo module 61a for an active robot platform 30 to arbitrarily position remote center-of-motion RCM spatially from the head of patient 10 as exemplarily shown in FIG. 4 A.
• registration module 62a is not informed via encoded signals of the aforementioned manual or servo control of robot platform 30 and proceeds to a stage SI 08 of flowchart 100.
• a stage S104 of flowchart 100 encompasses registration module 62a being informed via encoded signals of the arbitrary positioning of the remote center-of-motion RCM spatially from the head of patient 10 during stage S88 whereby registration module 62a initiates a tracking of robot platform 30.
• stage S90 of flowchart 80 encompasses the surgeon interfacing with servo module 61a for sequentially centering laser beam LB of laser pointer 50 on each marker whereby a stage S108 of flowchart 100 encompasses servo module 61a or registration module 62a recording an encoded position of pitch actuator 41 and yaw actuator 42 for a centering of laser beam LB on each marker.
• FIG. 4B illustrates a servo control by servo module 61a of yaw actuator 42 for centering laser beam LB on a first marker whereby servo module 61a or registration module 62a records an encoded position of pitch actuator 41 and yaw actuator 42 corresponding to the centering of laser beam LB on the first marker.
• FIG. 4C illustrates a servo control by servo module 61a of pitch actuator 41 for centering laser beam LB on a second marker whereby servo module 61a or registration module 62a records an encoded position of pitch actuator 41 and yaw actuator 42 corresponding to the centering of laser beam LB on the second marker.
• FIG. 4D illustrates a servo control by servo module 61a of pitch actuator 41 and yaw actuator 42 for centering laser beam LB on a third marker whereby servo module 61a or registration module 62a records an encoded position of pitch actuator 41 and yaw actuator 42 corresponding to the centering of laser beam LB on the third marker.
• FIG. 4E illustrates a servo control by servo module 61a of pitch actuator
• servo module 61a or registration module 62a records an encoded position of pitch actuator 41 and yaw actuator 42 corresponding to the centering of laser beam LB on the fourth marker.
• stage SI 10 of flowchart 100 encompasses registration module 62a processing the recorded encoded positions of pitch actuator 41 and yaw actuator 42 as known in the art to register concentric arc robot 40 to the markers and planned incision location as illustrated in volume image 21.
• stage SI 12 of flowchart 100 Based on the registration of stage SI 10, for un-encoded passive or active embodiments of robot platform 30 ("URP"), a stage SI 12 of flowchart 100
• stage S92 of flowchart 80 encompasses the surgeon marking the incision location on the head of patient as indicated by laser beam LB during stage SI 12 and a stage S94 of flowchart 80 encompasses the surgeon manually manipulating a passive robot platform 30 or interfacing with servo module 61a for an active robot platform 30 to align the remote center-of- motion RCM with the incision marker during a stage SI 14 of flowchart 100 as exemplarily shown in FIG. 4G.
• Registration module 62a provides a graphical and/or textual confirmation of the alignment.
• stage S96 of flowchart 90 encompasses the surgeon interfacing with servo module 61a for sequentially centering laser beam LB of laser pointer 50 on each marker including the incision marker whereby a stage SI 14 of flowchart 100 encompasses servo module 61a or registration module 62a recording an encoded position of pitch actuator 41 and yaw actuator 42 for a centering of laser beam LB on each marker.
• FIGS. 4B-4E are exemplary of stage SI 14 with the remote center-of-motion being aligned with the incision marker as opposed to being spaced from the head of patient 10.
• a stage SI 18 of flowchart 100 encompasses registration module 62a processing the recorded encoded positions of pitch actuator 41 and yaw actuator 42 as known in the art to register the remote center-of-motion RCM to incision marker as illustrated in volume image 21.
• a stage S120 of flowchart 100 encompasses an automatic servo control via servo module 61a of pitch actuator 41 and/or yaw actuator 43 as needed to axially align laser beam LB with the planned tool trajectory TT as shown in FIG. 1.
• stage S92 of flowchart 80 again encompasses the surgeon marking the incision location on the head of patient as indicated by laser beam LB during stage SI 12
• stage S94 of flowchart 80 again encompasses the surgeon manually manipulating a passive robot platform 30 to align the remote center-of- motion RCM with the incision marker during stage SI 14 of flowchart 100 as exemplarily shown in FIG. 4G.
• Registration module 62a provides a graphical and/or textual confirmation of the alignment.
• servo module 61a proceeds from stage SI 14 to stage S120 for an automatic servo control via servo module 61a of pitch actuator 41 and/or yaw actuator 43 as needed to axially align laser beam LB with the planned tool trajectory TT as shown in FIG. 1.
• a RCM alignment in accordance with stage SI 14 and a registration of the remote center-of-motion RCM to the incision maker in accordance with stage SI 16 and SI 18 are omitted in view of the registration of the remote center-of-motion RCM to the incision point as illustrated in volume image during stage SI 10.
• servo module 61a proceeds from stage SI 10 to stage S120 for an automatic servo control via servo module 61a of pitch actuator 41 and/or yaw actuator 43 as needed to axially align laser beam LB with the planned tool trajectory TT as shown in FIG. 1.
• the biopsy phase of FIG. 1 may be conducted in a precise, controller manner with minimal human error.
• the registration phase may be further automated and/or may utilize a variety of different optical end effectors.
• FIG. 5 illustrates an exemplary registration phase of the present disclosure incorporating a camera 140 within the operating space (e.g., attached to robot platform 30 or concentric arc robot 40) in a manner that positions the markers attached to the head of patient 10 and laser pointer 50 within a field of view of camera 140.
• a servo module 61b is structurally configured to communicate with a controller of camera 130 via communication path 63b to automatically perform the servo control of robot 30 when centering laser beam LB of laser pointer 50 on the markers as previously described herein.
• Such control eliminates any need for the surgeon to interface with servo module 61b during stage SI 08 and stage SI 18 (if applicable) as shown in FIG. 2.
• FIG. 6 illustrates an exemplary registration phase of the present disclosure utilizing an endoscope 51 alternative to laser pointer 50.
• a servo module 61c is structurally configured to perform an automatic servo control that involves a centering of each marker within a field-of-view of endoscope 51 during stage SI 08 and stage SI 18 (if applicable) as shown in FIG. 2. More particularly, for markers 130-133 as shown respectively in FIGS. 3A-3D, servo module 61c performs the automatic servo control in a sequential centering markers 130-133 within the field-of-view of endoscope 51 stage SI 08 and stage SI 18 (if applicable) as shown in FIG. 2.
• controllers of FIG. 1 may be installed within a single
• FIG. 7A illustrates an imaging workstation 150 having an imaging controller of the present disclosure (e.g., imaging controller 20) installed therein for
• a surgical robot workstation 151 having a robot controller of the present disclosure (e.g., robot controller 60) installed therein for executing a servo module and a registration module of the present disclosure.
• robot controller of the present disclosure e.g., robot controller 60
• FIG. 7B illustrates a workstation 152 having an imaging controller of the present disclosure (e.g., imaging controller 20) installed therein for CT, MRI or US imaging, and having a robot controller of the present disclosure (e.g., robot controller 60) installed therein for executing a servo module and a registration module of the present disclosure.
• an imaging controller of the present disclosure e.g., imaging controller 20
• a robot controller of the present disclosure e.g., robot controller 60
• the controllers may
• a registration module of the present disclosure may be an application of an imaging controller of the present disclosure in communication with a robot controller of the present disclosure.
• FIGS. 1-9 may be implemented in various combinations of electronic components/circuitry, hardware, executable software and executable firmware and provide functions which may be combined in a single element or multiple elements.
• the functions of the various features, elements, components, etc. shown/illustrated/depicted in the FIGS. 1-7 can be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software.
• processor When provided by a processor, the functions can be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which can be shared and/or multiplexed.
• explicit use of the term "processor” should not be construed to refer exclusively to hardware capable of executing software, and can implicitly include, without limitation, digital signal processor ("DSP") hardware, memory (e.g., read only memory (“ROM”) for storing software, random access memory (“RAM”), non-volatile storage, etc.) and virtually any means and/or machine (including hardware, software, firmware, circuitry, combinations thereof, etc.) which is capable of (and/or
• DSP digital signal processor
• any flow charts, flow diagrams and the like can represent various processes which can be substantially represented in computer readable storage media and so executed by a computer, processor or other device with processing capabilities, whether or not such computer or processor is explicitly shown.
• exemplary embodiments of the present disclosure can take the form of a computer program product or application module accessible from a computer-usable and/or computer-readable storage medium providing program code and/or instructions for use by or in connection with, e.g., a computer or any instruction execution system.
• a computer-usable or computer readable storage medium can be any apparatus that can, e.g., include, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus or device.
• Such exemplary medium can be, e.g., an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system (or apparatus or device) or a propagation medium.
• Examples of a computer- readable medium include, e.g., a semiconductor or solid state memory, magnetic tape, a removable computer diskette, a random access memory (RAM), a read-only memory (ROM), flash (drive), a rigid magnetic disk and an optical disk.
• Current examples of optical disks include compact disk - read only memory (CD-ROM), compact disk - read/write (CD-R/W) and DVD.
• corresponding and/or related systems incorporating and/or implementing the device or such as may be used/implemented in a device in accordance with the present disclosure are also contemplated and considered to be within the scope of the present disclosure.
• corresponding and/or related method for manufacturing and/or using a device and/or system in accordance with the present disclosure are also contemplated and considered to be within the scope of the present disclosure.

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• 2016
  • 2016-09-26 US US15/762,757 patent/US20200246085A1/en not_active Abandoned
  • 2016-09-26 EP EP16781202.3A patent/EP3355822A1/en not_active Withdrawn
  • 2016-09-26 WO PCT/IB2016/055743 patent/WO2017055990A1/en not_active Ceased
  • 2016-09-26 CN CN201680066685.7A patent/CN108348299B/zh not_active Expired - Fee Related
  • 2016-09-26 JP JP2018515500A patent/JP6865739B2/ja not_active Expired - Fee Related

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