WO2025251053A1

WO2025251053A1 - Robot for image-guided surgical procedures and uses thereof

Info

Publication number: WO2025251053A1
Application number: PCT/US2025/031817
Authority: WO
Inventors: Reza MONFAREDI; Gang Li; Atharva PARALIKAR; Kevin Cleary; Chima OLUIGBO; Charles L. Dumoulin; Wolfgang Manfred Loew
Original assignee: Cincinnati Childrens Hospital Medical Center; Childrens National Medical Center Inc
Current assignee: Cincinnati Childrens Hospital Medical Center; Childrens National Medical Center Inc
Priority date: 2024-05-31
Filing date: 2025-05-30
Publication date: 2025-12-04
Anticipated expiration: 2026-11-30

Abstract

A surgical robot positionable inside a magnetic resonance imaging system configured to capture patient-specific anatomy images. The surgical robot includes an outer arc structure with a first semi-arc shape having a first slide carriage, an inner arc structure with a second semi-arc shape having a second slide carriage, a needle assembly guide attached to the first slide carriage and the second slide carriage, the needle assembly driver capable of holding, advancing, withdrawing, and rotating the needle assembly, an imaging coil with a third semi-arc shape positioned below the needle assembly guide, and one or more pneumatic motors coupled to the outer arc structure and the inner arc structure and configured to respectively impart movement to the first semi-arc shape, the second semi-arch shape, the first slide carriage, the second slide carriage, and the needle assembly driver.

Description

ROBOT FOR IMAGE-GUIDED SURGICAL PROCEDURES AND USES

THEREOF

This invention was made with government support under EB031084 awarded by the National Institutes of Health. The government has certain rights in the invention.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present disclosure claims priority to U.S. Provisional Application No. 63/654,797, filed May 31, 2024, which is incorporated herein by reference in its entirety for all purposes.

FIELD OF DISCLOSURE

The present disclosure is related generally to a surgical system including a robotic system integrated with a magnetic resonance imaging (MRI) system. In particular, the present disclosure is related to enhancing the accuracy of surgical procedures by integrating the robotic system with real-time imaging generated by the MRI system during surgery using MR-Safe or MR-Conditional motors, such as pneumatic motors.

DESCRIPTION OF RELATED ART

The background description provided herein is for the purpose of generally presenting the context of the disclosure. The work of the presently named inventors, to the extent the work is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure.

Stereotactic neurosurgery has been used for the treatment of neurological disorders, which provides minimally invasive and highly precise interventions for conditions such as brain tumors, Parkinson’s disease, and epilepsy. In the United States alone, an estimated 700,000 individuals are affected by some forms of brain tumor, with approximately 20,000 succumbing to the disease each year. Moreover, between 9% and 17% of metastatic cancers lead to secondary tumors in the brain, further complicating the treatment options.

While stereotactic procedures offer precision and minimal invasion, they are not without risks. Intra-operative and post-operative hemorrhage remains a concern, which occurs approximately between 3.8% and 8.6% of all procedures leading to an estimated mortality rate of 0.7% and 4%. Additionally, despite the advanced stereotactic technology, between 2% and 15% of stereotactic needle assembly biopsies fail to provide a conclusive diagnosis. Mortality rates of the needle assembly biopsies are also two or three times than the national average surgical mortality rate.

Accordingly, given these challenges, there is a growing need for innovations in stereotactic neurosurgery to improve diagnostic accuracy and reduce procedure risks.

SUMMARY

Recent progress in magnetic resonance imaging technology provides surgeons with detailed views of complex patient-specific anatomy. By one embodiment of the present disclosure, the magnetic resonance images are obtained in real-time while the surgeons perform the surgery with the integration of a robotic system that is impervious to the effects of the magnetic field of a magnetic resonance imaging system. Thus, it is envisioned that the integration of the robotic system with the magnetic resonance imaging system can enhance accuracy, and it can further allow adjustments during the surgery based on the captured images simultaneously and improve the surgical outcomes and patient’s safety.

According to one embodiment there is described a surgical robot positionable inside a magnetic resonance imaging system configured to capture patient-specific anatomy images. The surgical robot includes an outer arc structure with a first semi-arc shape and having a first slide carriage, an inner arc structure with a second semi-arc shape and having a second slide carriage, a needle assembly driver attached to the first slide carriage and the second slide carriage, the needle assembly driver capable of holding a needle assembly, and the needle assembly coupled to the needle assembly driver using spherical and or universal joints, wherein the needle assembly driver is capable of inserting and rotating the needle assembly, a coil with a third semi-arc shape positioned below the needle assembly, and one or more pneumatic motors configured to impart movement to the first semi-arc shape, the second semi-arc shape, the first slide carriage, the second slide carriage, and the needle assembly driver.

According to another embodiment there is described a method for performing a surgical procedure using a surgical robot positionable inside a magnetic resonance imaging system configured to capture patient-specific anatomy images, including an outer arc structure with a first semi-arc shape having a first slide carriage, an inner arc structure with a second semi-arc shape having a second slide carriage, a needle assembly guide attached to the first slide carriage and the second slide carriage, the needle assembly driver capable of holding a needle assembly, an imaging coil with a third semi-arc shape positioned below the second semi-arc, and one or more pneumatic motors configured to move the first semi-arc shape, the second semi-arc shape, the first slide carriage, the second slide carriage, and the needle assembly driver. The method includes generating one or more magnetic resonance (MRI) images captured by a magnetic resonance imaging system, the MRI images taken in real-time during the surgical procedure, determining a target location based on the one or more images for performing the surgical procedure, controlling a robotic system to move a needle assembly for the surgical procedure based on the target location, and performing the surgical procedure at the target location using the needle assembly actuated by a needle assembly driver, wherein the magnetic resonance imaging system captures the MRI images during movement of the needle assembly.

According to another embodiment there is described a system for performing a surgical procedure using a surgical robot positionable inside a magnetic resonance imaging system configured to capture patient-specific anatomy images, including an outer arc structure with a first semi-arc shape having first slide carriage, an inner arc structure with a second semi-arc shape having a second slide carriage, a needle assembly guide attached to the first slide carriage and the second slide carriage, the needle assembly guide capable of holding a needle assembly, an imaging coil with a third semi-arc shape positioned below the needle assembly guide, and one or more pneumatic motors coupled to the outer arc structure and the inner arc structure and configured to respectively impart movement to the first semiarc shape, the second semi-arc shape, the first slide carriage, the second slide carriage, and the needle assembly driver. The system includes circuitry configured to process one or more magnetic resonance (MRI) images captured by a magnetic resonance imaging system, wherein the MRI images taken in real-time during the surgical procedure are used to determine a target location based on the one or more images for performing the surgical procedure. The system also includes a robotic system to move a needle assembly for the surgical procedure based on the target location and perform the surgical procedure at the target location using the needle assembly actuated by a needle assembly driver, wherein the magnetic resonance imaging system captures the MRI images during the movement of the needle assembly.

The foregoing paragraphs have been provided by way of general introduction and are not intended to limit the scope of the following claims. The described embodiments, together with further advantages, will be best understood by reference to the following detailed description taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments of this disclosure that are proposed as examples will be described in detail with reference to the following figures, wherein like numerals reference like elements, and wherein:

Fig. 1 illustrates an exemplary surgical system for surgical procedures guided by a robot;

Fig. 2A illustrates a schematic view of an exemplary robotic system to be used in a surgical procedure;

Fig. 2B illustrates an enlarged view of needle assembly driver with needle assembly mounted on a robotic system;

Fig. 2C illustrates exemplary movements of a needle assembly controlled by a needle assembly driver;

Figs. 2D and 2E illustrate enlarged views of needle assembly driver with needle assembly mounted on a robotic system;

Fig. 3 A illustrates a top view of an exemplary pneumatic motor;

Fig. 3B illustrates a cross-sectional view of an actuator;

Fig. 3C illustrates an oblique view of an exemplary pneumatic motor;

Fig. 4 illustrates an exemplary anti-backlash worm-gear transmission to be used as the geared rotor in a robotic system;

Fig. 5 illustrates an exemplary pneumatic needle assembly driver;

Figs. 6A, 6B, 6C and 6D illustrate schematic views of a pneumatic rotary actuator;

Fig. 7A illustrates an oblique view of needle assembly clamp assembly; Fig. 7B shows a needle assembly in a needle assembly clamp assembly;

Fig. 7C illustrates a central region of the needle assembly clamp assembly;

Figs. 7D, 7E, 7F, and 7G illustrate schematic views of pneumatic linear actuator;

Fig. 8 A illustrates an exemplary pneumatically actuated needle assembly clamp assembly;

Fig. 8B illustrates an exemplary rack-pinion mechanism system;

Fig. 9 illustrates an exemplary arc structure to be used as either an inner arc or an outer arc;

Figs. 10A, 10B, IOC and 10D show oblique views of an imaging coil array to be used in a robotic system;

Fig. 10E shows an exemplary base imaging coil positioned on the bottom of a surgical system;

Figs. 11 A and 11B show schematic views of a head fixture design with embedded optical markers and MRI-visible fiducials;

Fig. 12A illustrates an exemplary head fixture designed to securely hold the patient’s head;

Fig. 12B illustrates an exemplary patient’s head positioned within a head fixture;

Fig. 12C illustrates a schematic exploded view of a head fixture;

Figs. 12D and 12E illustrate other views of patient’s head positioned within a head fixture;

Fig. 13 illustrates an example of a surgical system guided by magnetic resonance images for a surgical procedure; Fig. 14 schematically illustrates one embodiment of a surgical system; and

Fig. 15 illustrates a block diagram of a computing device according to one embodiment.

DETAILED DESCRIPTION OF EMBODIMENTS

Exemplary embodiments are illustrated in the referenced figures of the drawings. It is intended that the embodiments and figures disclosed herein are to be considered illustrative rather than restrictive. No limitation on the scope of the technology and of the claims that follow is to be imputed to the examples shown in the drawings and discussed herein.

The embodiments are mainly described in terms of particular processes and systems provided in particular implementations. However, the processes and systems will operate effectively in other implementations. Phrases such as “an embodiment”, “one embodiment” and “another embodiment” may refer to the same or different embodiments. The embodiments will be described with respect to methods and compositions having certain components. However, the methods and compositions may include more or less components than those shown, and variations in the arrangement and type of the components may be made without departing from the scope of the present disclosure.

The exemplary embodiments are described in the context of methods having certain steps. However, the methods and compositions operate effectively with additional steps and steps in different orders that are not inconsistent with the exemplary embodiments. Thus, the present disclosure is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features described herein and as limited only by the appended claims. Furthermore, where a range of values is provided, it is to be understood that each intervening value between an upper and lower limit of the range and any other stated or intervening value in that stated range is encompassed within the disclosure. Where the stated range includes upper and lower limits, ranges excluding either of those limits are also included. Unless expressly stated, the terms used herein are intended to have the plain and ordinary meaning as understood by those of ordinary skill in the art. The following definitions are intended to aid the reader in understanding the present disclosure, but are not intended to vary or otherwise limit the meaning of such terms unless specifically indicated.

Embodiments of the present disclosure provide for a surgical system with a robotic system integrating with a magnetic resonance imaging system to enable real-time imaging during surgical procedures. The robotic system is made of materials that are impervious to the effects of the strong magnetic fields generated by the magnetic resonance imaging system (such as, for example, titanium, aluminum, brass, plastics, fiberglass, ceramics, and glass). Furthermore, surgeons may perform surgery with high precision with the guidance of the magnetic resonance imaging system in real-time, which dynamically positions targets points throughout the surgical procedure. The integration of the robotic system with the magnetic resonance imaging system enhances accuracy, further allowing for adjustments based on the captured images simultaneously and improving the surgical outcomes and patient’s safety.

Fig. 1 illustrates an exemplary surgical system 102 for surgical procedures guided by a robot. The surgical system 102 may be used to perform surgical procedures, but not limited to, on human’s brain. The surgical system 102 provides magnetic resonance image-guided surgical applications that are in-bore and real-time, for example, the surgical system 102 may be used as magnetic resonance image-guided stereotactic neurosurgical applications for precision brain tumor biopsy and ablation. The surgical system 102 may reduce the neurosurgery risk by enabling in-bore and real-time magnetic resonance image-based needle assembly placement supervised by surgeons. In one embodiment, a needle assembly includes a needle and needle-like element and/or an interoperative device having a needle-like shape, wherein the device comprises a needle alone, a needle sheath, a fiber-optic thermal delivery probe and sensor, an electrical probe for sensing and neurostimulation, a radiofrequency ablation probe, a sensor or surgical delivery system, multi-cannula needles, tubes, delivery or administration tube, pipe, duct, hose pipette or cylinder, being solid, partially hollow or hollow, or the like. The needle assembly includes any element or device including or having, for example, a piercing capability whether by way of a first puncture or a secondary insertion into a previously implemented puncture, where the size of the needle assembly is only limited by the size of the surgical system 102.

The surgical system 102 may further address neurosurgical challenges, including: (1) prolonged blind procedures, where single- or multi-target surgeries are conducted without real-time guidance; (2) restricted access caused by the presence of the magnetic resonance imaging system; and (3) labor-intensive pre-operative manual path planning. The surgical system 102 converts a blind and predominantly manual procedure into a visually guided, highly precise instrument placement process, enhancing accuracy and efficiency in surgical procedures.

Additionally, the surgical system 102 may be utilized in surgical procedures involving multiple targets of interests, ensuring precise instrument placement and optimized surgical accuracy through advanced guidance and magnetic resonance imaging integration. The integration of the magnetic resonance imaging (MRI) system and a robotic system significantly enhance efficiency, leading to a substantial reduction in the time required for the surgical procedure. This advanced approach optimizes precision, streamlines workflow, and minimizes manual intervention, ultimately improving surgical outcomes. The surgical system 102 requires a magnetic resonance imaging system including a magnetic resonance scanner 104 which receives magnetic resonance (MR) signals from an imaging coil array 110 in Fig. 10D disposed on one side of the patient and an imaging coil

116 disposed on the other side of the patient, and a robotic system including an outer arc 106, and an inner arc 108. The surgical system 102 may have a diameter of equal to or less than 60 cm. The magnetic resonance scanner 104 is a specialized imaging device that utilizes magnetic fields and radio waves to produce detailed images of internal structures within the body or objects.

The magnetic resonance scanner 104 may be a magnetic resonance imaging (MRI) machine, which offers non-invasive insights into soft tissues, organs, and neurological structures by generating three-dimensional (3D) MRI images, allowing the surgeons to confirm an optimal path for the surgical procedure.

The magnetic resonance scanner 104 may be used to detect abnormalities such as tumors, spinal injuries, or brain disorders. The magnetic resonance scanner 104 may be made of several key materials designed to generate and maintain strong magnetic fields while ensuring precise imaging. The primary component of the magnetic resonance scanner 104 is a magnet. The magnet can be either resistive, permanent, or superconducting. Resistive magnets employ electrical currents that flow through resistive coils to generate a magnetic field. Passive magnets use magnetic materials to create a magnetic field. Superconducting magnets are typically made from niobium-titanium (NbTi) alloy, which is cooled to extremely low temperatures using liquid helium to maintain superconductivity. The liquid helium is used to allow the magnet to maintain a stable magnetic field for imaging. The magnetic resonance scanner 104 is typically not movable, and the magnetic resonance scanner 104 includes a body coil incorporated into a bore wall (not shown in Fig. 1) used for exciting magnetic resonance signals. The outer arc 106, which is a semi-arc structure, may be constructed from a material engineered to be impervious to the magnetic field generated by the magnetic resonance scanner 104. The material to make the outer arc 106 may be selected to minimize the interference from the magnetic resonance and ensure the structural stability of the outer arc 106. The inner arc 108, which is a semi-arc structure, may be constructed from the same material that is used for the outer arc 106. In some cases, a different material may also be used to construct the inner arc 108, but any material used to construct the inner arc must be selected to be impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104, this ensures that the movement of the inner arc 108 and the outer arc 106 remains undisturbed by unintended magnetic field interference and does not distort images collected by the magnetic resonance scanner 104. The materials to be used for the inner arc 108 and the outer arc 106 may include fiberglass composites or ceramics.

The outer arc 106 is located between the bore wall of magnetic resonance scanner 104 and the inner arc 108. The outer arc 106 and the inner arc 108 are designed with arc-shaped structures to accommodate and surround the human head. This design ensures a precise fit within the magnetic resonance scanner 104, which optimizes the alignment between patient’s head and the magnetic resonance scanner 104 with any imaging system associated with the magnetic resonance scanner 104 for accurate diagnostic results.

The surgical system 102 further includes an imaging coil array 110, one or more pneumatic motors 112, a needle assembly guide 113, a needle assembly 114, a base imaging coil 116, and one or more fiducial markers 118. The imaging coil array 110 plays a role in image acquisition and provides improved imaging Signal -to-Noise Ratio compared to the body coil of the magnetic resonance scanner 104 because the imaging coil array 110 is located physically closer to the patient. The imaging coil array 110 is comprised of one or more receive coils that are each sensitive to a different location within the patient. The imaging coil arrays 110 with more than one element permit accelerated imaging protocols to provide faster imaging than is possible with a single MR imaging coil. The imaging coil array 110 is integrated with the inner arc 108. The inner arc 108 and the imaging coil array 110 may move together, or the imaging coil array 110 may move independently of the inner arc 108. Independent movement of the imaging coil array 110 is helpful as when robots locked on a desired trajectory, the imaging coil array 110 may be manually or automatically moved away from an entry point to allow access to the entry point by a surgeon during a preparation phase or to make incision on the skin before drilling burr hole on the skull.

The one or more pneumatic motors 112 are actuators to move the inner arc 108 and the outer arc 106 during the surgical procedures. One of the one or more pneumatic motors 112 may be used to move the inner arc 108, and another pneumatic motor of the one or more pneumatic motors 112 may be used to move the outer arc 106. The one or more pneumatic motors 112 may enable the adjustments in alignment, which allows the inner arc 108 and the outer arc 106 to move based on the required alignments between the magnetic resonance scanner 104 and patients. In some examples, the one or more pneumatic motors 112 may be used to rotate the inner arc 108 and the outer arc 106. The one or more pneumatic motors 112 may be air motors, which are devices that convert compressed air into mechanical motion, either rotational or linear. The one or more pneumatic motors 112 are operated by expanding compressed air, which drive pistons or turbines to generate movement. In this example, the one or more pneumatic motors 112 may be used to move or rotate the inner arc 108 or outer arc 106. The one or more pneumatic motors 112 may be located at both ends of the inner arc 108 and the outer arc 106, and the one or more pneumatic motors 112 may be connected to the inner arc 108 and the outer arc 106. Additionally, the one or more pneumatic motors 112 are made by a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104. A needle assembly guide 113 is designed to couple the inner arc 108 and the outer arc

106. Based on the movement actuated by the one or more pneumatic motors 112, the inner arc 108 and the outer arc 106 may control the movement direction and rotation of the needle assembly guide 113 thus the needle assembly 114 including a needle and/or any other tool or electrode that is guided by the needle assembly guide 113. The needle assembly 114 may be made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104, for example, the needle assembly 114 may be made of ceramic. The needle assembly 114 is designed to be compatible with the magnetic resonance scanner 104, which provides a minimal invasive medical procedure such as tumor ablation, facet joint injections, conventional biopsies, and optical biopsies. A needle assembly driver, which will be discussed in detail later in Fig. 2B and Fig. 5, may be used in connection with the needle assembly guide 113, which provides accurate needle assembly insertion and extraction along with the desired trajectory.

Additionally, the needle assembly 114 may have a bevel tip, which prevents needle assembly deformation when the needle assembly driver spins the needle assembly 114. The bevel tip shape of the needle assembly 114 increases the safety of the stereotactic procedure by enabling the real-time automatic instrument placement into the patient, such as the patient’s brain, under the control of a neurosurgeon during the surgical procedures. The neurosurgeon may monitor instrument insertion and have the ability to instantly stop the movement of the instrument.

The base imaging coil 116 is a coil to detect MR signals for high resolution imaging in combination with the use of the magnetic resonance scanner 104. The base imaging coil 116 may be made of copper or a high-temperature superconductor. The one or more fiducial markers 118 are small reference objects that are placed in or near a target area to improve the accuracy in imaging, navigation, and treatment procedures. In this example, the one or more fiducial markers 118 may be used to determine the actual locations of interests on the patient’s brain. The one or more fiducial markers 118 may be made of gel or liquid materials, which appear clearly in the magnetic scanned images. The one or more fiducial markers 118 further allow the surgeons to align the target areas with high precision. In an another embodiment the one or more fiducial markers 118 may be affixed to inner arc 108 and outer arc 106 to help track the movements of the inner arc 108 and the outer arc 106. The one or more fiducial markers 118 may be used to calibrate the systems for enhanced accuracy. The one or more fiducial markers 118 may be used to stabilize images and provide reference points for the magnetic resonance scanner 104.

Fig. 2A illustrates a schematic view of the exemplary robotic system 200 to be used in a surgical procedure.

The robotic system 200 includes the outer arc 106, the inner arc 108, the imaging coil array 110, the one or more pneumatic motors 112, the base imaging coil 116, and the one or more fiducial markers 118. In Fig. 2A, the outer arc 106 and the inner arc 108 are described above in Fig. 1. The magnetic resonance scanner 104 in Fig.l may capture magnetic resonance images simultaneously while the robotic system 200 is moving the outer arc 106, the inner arc 108, and the imaging coil array 110. A computer system described in Fig. 15 may analyze the magnetic resonance images and recommend a path for the robotic system during the surgical procedure based on the captured magnetic resonance images simultaneously.

In one preferred embodiment, the one or more pneumatic motors 112 includes at least four pneumatic motors 112. Two of the pneumatic motors 112 are connected to two ends of the inner arc 108, and another two of the pneumatic motors 112 are connected to the other two ends of the outer arc 106. The pneumatic motors 112 connected to the outer arc 106 facilitate a controlled rotation of the outer arc 106 in the motion depicted as rotation 206 in Fig. 2A. The pneumatic motors 112 connected to the inner arc 108 facilitate a controlled rotation of the outer arc 106 in the motion depicted as rotation 208 in Fig. 2A. These pneumatic motors 112 provide smooth and precise movement and rotations of the inner arc 108 and the outer arc 106, ensuring stability and accuracy during surgical procedures. The one or more pneumatic motors 112 may further be used to facilitate a controlled rotation of the imaging coil array 110 as depicted as rotation 210 in Fig. 2A.

The robotic system 200 includes an outer joint 220 that is embedded into an outer slide carriage 234 in Fig. 2B, and an inner joint 222 that is embedded to an inner slide carriage 236 in Fig. 2B. The outer joint 220 is coupled to the outer arc 106 using the outer slide carriage 234. Along with the outer slide carriage 234 the outer joint 220 may slide along the outer arc 106 in an outer slide direction 220-2 as depicted in Fig. 2 A. The inner joint 222 is coupled to the inner arc 108 using the inner sliding carriage 236, and the inner joint 222 may slide along the inner arc 108 in an inner slide direction 222-2 as depicted in Fig. 2. The needle assembly 114 is inserted into the central region of the outer joint 220 and the inner joint 222, thus, the needle assembly guide 113 and the needle assembly 114 may move or rotate based on a combination of the rotation 206, the rotation 208, the rotation 210, the outer slide direction 220-2, and the inner slide direction 222-2. In some examples, the imaging coil array 110 may have a coil slide direction 210-2 as depicted in Fig. 2A, which further adds another factor into the control of the rotation or movement of the needle assembly 114. This ensures that the imaging coil array 110 will not block the needle assembly and there will be always a way to pass the needle assembly 114 from the opening of the imaging coil array 110.

Fig. 2B illustrates an enlarged view of needle assembly driver 230 with needle assembly mounted on the robotic system 200. The needle assembly driver 230 includes needle assembly 114, the outer slide carriage 234, and the inner slide carriage 236. The outer slide carriage 234 is positioned on the outer arc 106 with an outer arc slide joint, which allows smooth and controlled sliding motion along the outer arc 106 for precise adjustments. The inner slide carriage 236 is positioned on the inner arc 108 with an inner arc slider joint, which allows smooth and controlled sliding motion along the inner arc 108 for precise adjustments. Both the outer slide carriage 234 and the inner slide carriage 236 are made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104, for example, plastic, thus the needle assembly driver 230 is considered safe or compatible with the magnetic resonance imaging system. In some examples, the needle assembly driver 230 may be actuated by piezoelectric motors or by cable transmission mechanism. In some examples, the needle assembly 114 and the needle assembly driver 230 in the robotic system 200 may be designed for easy sterilization, as the needle assembly 114 and the needle assembly driver 230 is in direct contact with surgical instruments.

Additionally, the inner slide carriage 236 provides a controlled movement within the needle assembly driver 230, which allows fine adjustment in needle assembly positioning. The outer slide carriage 234 provides another degree of controlled movement of the needle assembly 114 when it works in conjunction with the inner slide carriage 236, which further improves the grip and maneuverability of the needle assembly driver 230.

Fig. 2C illustrates exemplary movements of the needle assembly 114 controlled by the needle assembly driver 230.

In subsections 2C-1, 2C-2, 2C-3, and 2C-4, the needle assembly driver 230 precisely guides the needle assembly 114 along a direction 240 of the perimeters of the inner arc 108 and the outer arc 106 when the outer arc 106 and the inner arc 108 are aligned. As a result, the needle assembly 114 actuated by the needle assembly driver 230 may move vertically along a direction perpendicular to a first circumference of the outer arc 106 and a second circumference of the inner arc 108. The needle assembly 114 actuated by the needle assembly driver 230 may further move horizontally or tangentially along a direction parallel to the first circumference of the outer arc 106 and the second circumference of the inner arc 108.

In this design of the needle assembly driver 230, a first part of the needle assembly driver 230 is located between the inner arc 108 and the outer arc 106, and a second part, which includes a needle assembly clamping piston, is located above the outer arc 106. This design allows the distance between the inner arc 108 and the outer arc 106 to be reduced. Additionally, this design simplifies the removal and replacement of disposable needle assembly clips, enhancing efficiency and ease of use. The improved accessibility further reduces handling time, streamlining the surgical procedure while maintaining reliability.

In subsection 2C-5, the outer arc 106 may adjust its position relative to the inner arc 108, allowing the needle assembly 114 to be repositioned in alignment with the rotation 242. As a result, the needle assembly 114 actuated by the needle assembly driver 230 may rotate along a trajectory parallel to a direction 105 extending from the patient’s forehead to mouth when the patient’s head lays on the bottom of the surgical system 102, as depicted in Fig. 1.

In subsections 2C-6 and 2C-7, the outer arc 106 may laterally move its position relative to the inner arc 108, for example, the outer arc 106 may move its position to the right while the inner arc 108 may move its position to the left, and the needle assembly 114 may move with the rotation 244. As a result, the needle assembly 114 actuated by the needle assembly driver 230 may rotate along a trajectory perpendicular to the direction 105 extending from the patient’s forehead to mouth, as depicted in Fig. 1. Fig. 2D illustrates an enlarged view of needle assembly driver 230 with needle assembly 114 mounted on the robotic system 200. Fig. 2E illustrates another enlarged view of the needle assembly driver 230 focusing on the areas adjacent to the needle assembly 114.

In Fig. 2D and Fig. 2E, the needle assembly driver 230 includes the outer joint 220 and the inner joint 222, as discussed in Fig. 2B. The outer joint 220 may be loosely attached to the needle assembly 114, which allows the needle assembly 114 to rotate freely and move perpendicularly for in-bore surgical procedures. In Fig. 2E, the needle assembly driver 230 includes a needle assembly clamp 250, which is designed to grasp the needle assembly 114 within the needle assembly driver 230 and to ensure precise control and stability of the needle assembly 114 within the needle assembly driver 230. The needle assembly clamp 250 may be made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104. The needle assembly clamp 250 may have different opening sizes that may be used to accommodate different gauge of needle assembly, for example, the gauge of needle assembly may range from 18 gauge to 22 gauge.

A disposable and sterilizable brass needle assembly guide 252 may be used around the needle assembly 114. The brass needle assembly guide 252 may be designed to guide the movement or rotation of the needle assembly 114 within the needle assembly driver 230. For example, the needle assembly 114 may rotate in orientation 256, as shown in Fig. 2E. Additionally, the needle assembly 114 may move along the axis of the needle assembly driver 230, as indicated by a direction 258.

Fig. 3 A illustrates a top view of an exemplary pneumatic motor 112. The pneumatic motor 112 includes three actuators 302-1, 302-2, 302-3, a brake piston 304, a geared rotor 306, and motor housing 308. The actuator 302-1 shares the same structural design as another actuator 302-2 or 302-3, which ensures consistency in functionality and performance. The actuator 302-1 is discussed in more detail in Fig. 3B, which illustrates a cross- sectional view of an actuator 302-1. The brake piston 304 is used as a braking system of the pneumatic motor 112. The brake piston 304 is responsible for applying pressure to the geared rotor 306 to slow down or stop the geared rotor’s 306 rotation. When the brake piston 304 is engaged, hydraulic or pneumatic force pushes the brake piston 304 inward. The hydraulic or pneumatic force presses the brake piston 304 against the geared rotor 306 to create friction and reduce speed. The brake piston 304 may be made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104.

The geared rotor 306 is centrally positioned within the motor housing 308, which ensures efficient power transmission. The geared rotor 306 is a mechanical part that integrates gears with a rotating shaft to transmit power efficiently while controlling speed and torque. The geared rotor 306 is designed to handle torsional and transverse vibrations, which ensures smooth operation and minimizes mechanical stress of the pneumatic motor 112. The actuator 302-1 is positioned at, for example, a 123.3-degree offset relative to the actuator 302-2 on the motor housing 308. The actuator 302-1 is also positioned at, for example, a 123.3-degree offset relative to the actuator 302-3 on the motor housing 308, which provides balanced distribution and optimal mechanical performance between the actuator 302-1, 302- 2, and 302-3. This configuration enhances stability and precision in movement control. Other offset values are also possible.

The motor housing 308 is a disk-shaped housing, which is designed to enclose and protect the internal components of the geared rotor 306 while maintaining a circular form. The motor housing 308 may be made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104. The brake piston 304 is positioned between actuator 302-1 and actuator 302-2, which is situated along the outer perimeter of the motor housing 308 to ensure efficient braking functionality. In Fig. 3B, a cross-sectional view of the actuator 302-1 is illustrated. The actuator

302-1 includes a diaphragm 302-4, an O-ring 302-5, a tube fitting 302-6, and a compression spring 302-7. The diaphragm 302-4 may be a flexible membrane that converts pneumatic pressure into mechanical motion for the actuator 302-1. The diaphragm 302-4 may be made of a rubber, elastomers, or polymers, which allows the diaphragm 302-4 to be deformed under the pneumatic pressure.

The O-ring 302-5 may be placed on top of the diaphragm 302-4. The O-ring 302-5 may be used as a sealing component which prevents leaking and ensures smooth operation under the pneumatic pressure. The tube fitting 302-6 may also be used in combination with the O-ring 302-5 to ensure a secure and leak-proof connection for the actuator 302-1 under the pneumatic pressure. The tube fitting 302-6 may be located on top of the O-ring 302-5, and the O-ring 302-5 may be positioned within the tube fitting 302-6. The combination of the O- ring 302-5 and the tube fitting 302-6 ensures a strong seal against leaks. The compression spring 302-7 is a helical-shaped mechanical component which is designed to resist any compressive force and store energy when compressed in the actuator 302-1. The compression spring 302-7 absorbs force and release the stored energy when the load is removed. The compression spring 302-7 may be made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104.

Fig. 3C illustrates an oblique view of the exemplary pneumatic motor 112. In Fig. 3C, the O-ring 302-5 is placed between the tube fitting 302-6 and the diaphragm 302-4. The diaphragm 302-4 may contact the compression spring 302-7. As discussed above, the compression spring 302-7 may absorb force when compressed and releases the stored energy which may be used to influence the movement of the geared rotor 306. A pin affixed to the compression spring 302-7 may contact the tooth structure of the geared rotor 306, which may influence the motion or rotation of the geared rotor 306. Two bearings 330 are placed on two sides of the geared rotor 306 at the center region of the geared rotor 306. The bearings 330 may be used to reduce friction of the geared rotor 306. The bearings 330 may be used to provide support on both sides of the geared rotor 306 in radial or axial directions. A front cover 332 and a back cover 334 are placed adjacent to the bearings 330 to protect the pneumatic motor 112.

Fig. 4 illustrates an exemplary anti-backlash worm-gear transmission 400 to be used as the geared rotor 306 in the robotic system 200.

The worm-gear transmission 400 is a dual-worm system, which includes two worms 402 and 404. Worm 402 is connected to gear 408, and worm 404 is connected to gear 410. When the gear 408 rotates, the gear 410 rotates in the opposite direction, which ensures efficient motion transfer from gear 408 to the gear 410. Since gear 408 shares the same axis as worm 402, they rotate in the same direction. Similarly, gear 410 shares the same axis as worm 404, worm 402 rotates in an opposite direction relative to worm 404, which is used to counteract backlash by applying opposing force. These two worms 402 and 404 engage in one worm wheel 406, which eliminates backlash by compensating for worm-gear clearance.

Fig. 5 illustrates an exemplary pneumatic needle assembly driver 230.

The pneumatic needle assembly driver 230 includes a needle assembly clamp assembly 502, a pneumatic rotary actuator 504, a pneumatic linear actuator 506, and a needle assembly driver base 508. The pneumatic rotary actuator 504 is used to provide rotary motion to the needle assembly 114, which will be discussed in detail in Figs. 6A-6D. The needle assembly clamp assembly 502 is used to hold the needle assembly 114, which will be discussed in detail in Fig. 7A.

The pneumatic linear actuator 506 is used to provide translation to the needle assembly 114, which will be discussed in detail in Fig. 8. The needle assembly driver base 508 is used to attach the needle assembly driver 230 to the inner joint 222 on the inner arc 108. Additionally, the pneumatic needle assembly driver 230 may simultaneously push and rotate the needle assembly 114 to the target of interests. The simultaneous pushing and rotating of the needle assembly 114 may prevent needle assembly deflection during the surgical procedure. The needle assembly driver 230 may further rotate the needle assembly 114 and then push the needle assembly 114 into human’s tissue that is beneficial for needle assembly steering applications.

Figs. 6A-6D illustrate schematic views of the pneumatic rotary actuator 504.

Fig. 6A illustrates an oblique view of the pneumatic rotary actuator 504. Fig. 6B illustrates a top view of the pneumatic rotary actuator 504.

The pneumatic rotary actuator 504 includes an actuator spindle gear 602 and an actuator body 604. The actuator spindle gear 602 is used to provide housing for the needle assembly clamp assembly 502, so the needle assembly clamp assembly 502 may be connected to the actuator spindle gear 602. The actuator body 604 serves as a casing for rotary actuator 504 and provides housing for other rotary actuator’s components, which ensures protection and structural integrity.

The design of the pneumatic rotary actuator 504, as shown in Fig. 6B, incorporates a rack-and-pinion mechanism to transform the linear motion generated by pneumatic pistons into rotary motion. This rotary motion is then converted into helical motion, combining rotation and axial displacement to effectively push and rotate the needle assembly. In some examples, other types of pneumatic rotary motors or piezo motors may be used to create rotary motion.

Fig. 6C illustrates an enlarged view of the actuator spindle gear 602. Fig. 6D illustrates another detailed view of the pneumatic rotary actuator 504. Three actuator pins 606 are used in conjunction with the actuator spindle gear 602. For example, the actuator pins 606 may push the actuator spindle gear 602 sequentially to rotate it for clockwise or counterclockwise rotations.

Fig. 7A illustrates an oblique view of needle assembly clamp assembly 502.

The needle assembly clamp assembly 502 includes a needle assembly clamp 702 and a needle assembly driver carriage 704. The needle assembly clamp 702 may have a needle assembly hole for the needle assembly 114 to be inserted and the needle assembly clamp 702 may securely hold the needle assembly 114 by providing a firm grip. The needle assembly clamp 702 may prevent unwanted movement or loosening, which allows for precise control and consistent performance. The needle assembly clamp 702 may also provide adjustment to ensure that the needle assembly is tightly secured without excessive pressure to bend or damage the needle assembly 114. The needle assembly driver carriage 704 is used to provide housing for the needle assembly clamp assembly 502. The needle assembly driver carriage 704 is used to connect the needle assembly clamp assembly 702 to the actuator spindle gear 602.

Fig. 7B shows a needle assembly 114 in a needle assembly clamp assembly 702. The needle assembly 114 is inserted into the needle assembly clamp assembly 702. In the right picture of Fig. 7C, the needle assembly clamp assembly 702 is closed, securely tightening the needle assembly 114 in place. In the left picture of Fig. 7C, the needle assembly clamp assembly 702 is open, loosening its grip on the needle assembly 114. Fig. 7C shows a central region of the needle assembly clamp assembly 702. The needle assembly clamp assembly 702 features soft tips 706 around its grip, providing secure support for the needle assembly 114 and ensuring the needle assembly 114 remains intact.

Figs. 7D-7G illustrate schematic views of pneumatic linear actuator 506. Fig. 7D illustrates an oblique view of pneumatic linear actuator 506. Fig. 7E illustrates a cross-sectional view of the pneumatic linear actuator 506. The pneumatic linear actuator 506 is a device that converts compressed air energy into linear motion. In this example, the compressed air energy is translated into the linear motion for the needle assembly 114. The pneumatic linear actuator 506 may be made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104. The pneumatic linear actuator 506 includes the actuator spindle gear 602 discussed earlier in Fig. 6A, which is used to be connected to the needle assembly clamp assembly 502.

Fig. 7F illustrates oblique views of three components in the pneumatic linear actuator 506. The pneumatic linear actuator 506 includes a linear actuator base 732, a linear actuator body 734, and a linear actuator plate 736.

The linear actuator base 732 is positioned under the linear actuator body 734, and the linear actuator plate 736 is positioned on top of the linear actuator body 734. The linear actuator plate 736 has a shape that fits into the opening of the linear actuator body 734. The linear actuator plate 736 provides a linear motion to the actuator spindle gear 602. The shape of the linear actuator body 734 is the same as the linear actuator base 732, so that the linear actuator body 734 covers on the top of the linear actuator base 732.

The linear actuator base 732 has three circular holes on its face, evenly spaced at 120- degree intervals, which ensures balanced distribution and secure mounting. The linear actuator base 802 has an opening with a nozzle on its perimeter, which may be used to provide an opening for air flow, which is shown in a perspective view in Fig. 7G.

Fig. 8A illustrates an exemplary pneumatically actuated needle assembly clamp assembly 810. The needle assembly clamp structure 810 includes a needle assembly clamp 812, a needle assembly guide 814, a rubber-like soft end 816 on the bottom of the needle assembly guide 814, a rack-pinion mechanism system 818, and pneumatic actuators 820. The needle assembly clamp 812 may be similar to the needle assembly clamp 502 in Fig. 7A. The needle assembly guide 814 may be similar to the needle assembly guide 252 in Figs. 2D and 2E. The needle assembly guide 814 ensures alignment of the needle assembly 114. The needle assembly guide 814 prevents bending and serves as a structural element of the needle assembly clamp assembly. The needle assembly guide 814 has a hollow shaft, which aligns with a needle assembly carriage, needle assembly driver housing, and a second pinion 826 discussed in Fig. 8F. The needle assembly guide 814 is disposable and easily replaceable to accommodate diameters of the needle assembly 114 ranging from 0.7 mm (22 gauge) to 2 mm (14 gauge).

The pneumatically actuated needle assembly clamp assembly 810 secures the needle assembly 114 during insertion and extraction. The needle assembly clamp assembly 810 is fully customizable to accommodate various needle assembly gauges and features a clip-on design for quick assembly and easy replacement. The needle assembly clamp assembly 810 may be calibrated for optimal performance when operating at pressure is between 30 and 50 psi.

The rubber-like soft end 816 on the bottom of the needle assembly guide 814 may be used to provide shock absorption and reduce impact forces during the needle assembly insertion and minimize potential damage to the needle assembly guide 814. Additionally, the rubber-like soft end 816 ensures secure positioning and prevents unintended movement or slippage of the inserted needle assembly 114 during non-actuating phases.

The rack-pinion mechanism system 818 and pneumatic actuators 820 in Fig. 8E are discussed in more detail in Fig. 8F. In Fig. 8F, the rack-pinion mechanism system 818 includes a first pneumatic actuator 820-1 on the left and a second pneumatic actuator 820-2 on the right. The first pneumatic actuator 820-1 and the second pneumatic actuator 820-2 may be connected by a rack 822. A first pinion 824 is located on and attached to the central region of the rack 822. The first pinion 824 further transmits its motion to a second pinion 826, which converts a linear motion 828 from the rack 822 to a pinion rotation 830 on the second pinion 826. The pneumatically actuated rack-pinion mechanism system 818 drives the motion of the needle assembly 114. The rack 722 is pneumatically actuated, and the rack 822 controls movement of the first pinion 824 while the pinion 826 acts as a driving component for the needle assembly 114. Additionally, the stroke length of the rack 822 is manually adjustable, allowing precise control over the pinion’s rotation 830. Fig. 9 illustrates an exemplary arc structure 900 as either the inner arc 108 or the outer arc 106 utilizing a cable- driven transmission mechanism.

The arc structure 900 includes a slide carriage 902, a right cable end 904, a left cable end 906, cable tensioner 908, cable router and tensioner 910, and double-layer pulley 912. The slide carriage 902 may be used earlier as the outer slide carriage 234 and the inner slide carriage 236 in Fig. 2B. The slide carriage 902 may be a linear motion carriage that slides on the rail of the arc structure 900. The slide carriage 902 may have a smooth surface which allows it to move with reduced friction while sliding. The slide carriage 902 may be made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104.

The right cable end 904 and the left cable end 906 may be used in combination with the slide carriage 902. For example, the slide carriage 902 may slide to the right of the track on the arc structure 900 by pulling the right cable end 904 using the cable router and tensioner 910. In another example, the slide carriage 902 may slide to the left of the track on the arc structure 900 by pulling the left cable end 906 to move the slide carriage 902 to the left of the track using the cable tensioner 908.

In some examples, the double layer pulley 912 may be used in combination with the right cable end 904 and the left cable end 906. The double layer pulley 912 may provide a control of the distance and the direction of the movement of the slide carriage 902. The right cable end 904, the left cable end 906, cable tensioner 908, the cable router and tensioner 910, and the double layer pulley 912 may be made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104.

Figs. 10A-D show oblique views of a radio frequency (RF) coil array 1000 to be used in magnetic resonance imaging system.

The RF coil array 1000 includes a coil circuit 1002 and a wiring 1004. The RF coil 1000 may move in a direction 105 as depicted in Fig. 1, which is a direction extending from the patient’s forehead to mouth when the patient’s head lays on a bottom plate of the surgical system 102. The RF coil 1000 may further rotate based on the rotation 210 as depicted in Fig. 2A, which is a rotation along and axis perpendicular to the direction extending from the patient’s forehead to mouth.

The wiring 1004 in Figs. 10A, 10B, 10C shows an RF coil array capable of detecting radio frequency signals for magnetic resonance imaging, further ensuring real-time capture of magnetic resonance images of target of interests during a surgical procedure. During a multitarget surgical procedure, the RF coil 1000 may be adjusted quickly to visualize new regions of interests.

Fig. 10E shows an exemplary base imaging coil 116 positioned on the bottom of the surgical system 102. A circuit diagram of the base imaging coil 116 is also shown in Fig. 10E. The imaging coil array 110 and the base imaging coil 116 are made of a material that is impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104.

Figs. HA and 11B show schematic views of a head fixture design 1100 with embedded optical markers and MRI-visible fiducials.

The head fixture design 1100 includes embedded magnetic resonance imaging (MRI) visible fiducials 1104 and optical tracker markers 1106 on its left arm 1102L and right arm 1102R. The visual fiducials 1104 are MRI-visible, and the visual fiducials 1104 may be used as reference markers in imaging during the surgical procedure. Visual fiducials 1104 may be used to help the surgical system to recognize and track objects. These visual fiducials 1104 may provide fixed points for calibration, alignment, or measurements. In the robotic system 200 described herein, the visual fiducial 1104 may be used for object detection, positioning, navigation, and registration of robotic system 200 to the captured magnetic resonance images by the magnetic resonance imaging system.

The optical tracker markers 1106 in the head fixture design 1100 may be used to provide precise motion tracking using optical signal. The optical tracker markers 1106 may provide reference points that help tracking the motion of the patient’s head during the surgical procedure.

The head fixture design 1100 includes a movable head fixture base 1108, a middle arm 1110, a fixed base 1112, constraining pins 1114, and screws 1116. The movable head fixture base 1108 may be used to hold the left arm 1102L, right arm 1102R, and the middle arm 1110 together. The fixed base 1112 may be used to permanently attach to the base of the robotic system 200. The constraining pins 1114 may be used to restrict movement and maintain alignment for the head fixture design 1100. The constraining pins 1114 and the screws 1116 may be used to secure the components such as the left arm 1102L and the right arm 1102R in place while allowing controlled motion or preventing unintended displacement during the surgical procedure. It is noted that the left arm 1102L, the right arm 1102R, and the middle arm 1110 may be replaced with different sizes to accommodate variations in the patient’s head dimensions, ensuring a precise and comfortable fit.

The head fixture design 1100 includes a pre-regi strati on mechanism that aligns precisely with patient-specific facial marks, ensuring an accurate initial setup. The head fixture design 1100 ensures a robust coupling mechanism that seamlessly integrates a preregistered head-frame transformation with the robotic system 200, which enhances procedural accuracy, efficiency, and overall operation time. Additionally, removable and adjustable fixture components are securely attached to the patient’s skull using titanium screws, maintaining rigid stability during transport from the operating room to a magnetic resonance imaging suite during the surgical procedure, optical tracker markers 1106 described herein may also be registered in the operating room using one or more optical trackers (not shown). Once the rigid body transformation is determined, the patient is transported to the magnetic resonance imaging suite, where the MRI-compatible robotic system 200 is prepared and ready for the surgical procedure.

Fig. 12A illustrates an exemplary head fixture 1200 designed to securely hold the patient’s head. Fig. 12 B illustrates an exemplary patient’s head 1202 positioned within the head fixture 1200.

The head fixture 1200 is designed to conform to the shape of the patient’s head, which ensures both stability and comfort when the patients lay their heads on the head fixture 1200. The structure of the head fixture 1200 includes three adjustable holders 1204, 1206, 1208 that support the patient’s head and keep the head in place during the surgical procedure. These three holders 1204, 1206, 1208 are positioned to minimize unwanted movement and allow precise alignment while distributing pressure evenly on the patient’s head 1202 to ensure stability and to prevent discomfort.

Additionally, the head fixture 1200 provides a base 1210 that serves as a primary support for the patient’s head 1202 when the patient’s head 1202 is positioned on the base 1210. The head fixture 1200 may be adjustable to various head sizes, which offer customization to individual patient’s needs.

Fig. 12C illustrates a schematic exploded view of the head fixture 1200. The head fixture 1200 includes a fiducial plate 1212, fiducial markers 1214, head anchor pins 1216, head anchor pin holders 1218, alignment pins 1220, and head fixture base 1210.

The fiducial plate 1212 is housing for fiducial markers 1214 to be used for registration, which anchors the head fixture 1200 to the base of the robotic system 200 for surgical procedure. The fiducial markers 1214 are small reference objects that are placed in or near a target area to improve the accuracy in imaging, navigation, and treatment procedures. In this example, the fiducial markers 1214 may be used to determine the actual locations of interests on the patient’s head in the head fixture 1200. The fiducial markers 1214 may be made of gels or liquids, which appear clearly in the magnetic scanned images. These gels or liquids may be doped with MR contrast agents to improve their conspicuity in the MR images. The fiducial markers 1214 further allow the surgeons to align the target areas on the patient’s head with high precision.

The head anchor pins 1216 are used to secure the patient’s head to the head fixture 1200. The head anchor pins 1216 ensures that the patient’s head remains firmly anchored without unintended movement. The head anchor pins 1216 may be designed to hold the patient’s head with high reliability and reduce the patient’s discomfort during the surgical procedure. The head anchor pins 1216 may be attached to the three adjustable holders 1204, 1206, 1208 discussed above in Fig. 12A. Three head anchor pin holders 1218 may be used to secure the head anchor pins 1216 in place on the three adjustable holders 1204, 1206, 1208. Additionally, one or more alignment pins 1220 may be used to align and lock the head fixture base 1210 on the fiducial plate 1212. The fiducial plate 1212, the fiducial markers 1214, the head anchor pins 1216, the head anchor pin holders 1218, the alignment pins 1220, and the head fixture base 1210 are made of materials that are impervious to the effects of the strong magnetic field generated by the magnetic resonance scanner 104. The adjustable holders 1206 and 1208 may be extendable according to the width of the patient’s head, as illustrated in Fig. 12D and Fig. 12E.

Fig. 13 illustrates an example of a surgical system 1300 guided by magnetic resonance images for surgical procedures.

In Fig. 13, the surgical system 1300 may utilize real-time magnetic resonance images of patient-specific anatomy, captured by the magnetic resonance scanner 104, to assist surgeons during the surgical procedures. The integration of the real-time magnetic resonance images with the surgical procedures enhances precision, allowing for dynamic adjustments based on the real-time captured magnetic resonance images. The integration further improves the surgical accuracy and the outcomes of the surgical procedures. In some examples, the integration of the real-time magnetic resonance images with the surgical procedures may be used in real-time brain imaging and brain surgery, in-bore targeting, and real-time instrument guidance.

The surgical system 1300 may include a robotic system 1302. The robotic system 1302 includes the magnetic resonance scanner 104, the outer arc 106, the inner arc 108, the imaging coil array 110, the one or more pneumatic motors 112, the base imaging coil 116, as discussed in Fig. 2A. The robotic system 1302 may connect to a magnetic resonance imaging console 1304, which is a control system that manages all components of the magnetic resonance scanner 104 in the robotic system 1302. The magnetic resonance imaging console 1304 allows the operators such as surgeons to adjust imaging parameters, process the imaging data, and generate a detailed medical image for the surgical procedure. The magnetic resonance imaging console 1304 may include a host computer, a pulse programmer, a radio frequency transceiver, which work together to control the magnet, gradient coils, and radio frequency signals.

The magnetic resonance imaging console 1304 is connected to a planning workstation 1306. The planning workstation 1306 may be used to provide surgical planning or robot control. The planning workstation 1306 is further connected to a robot controller 1308, which is used to control the inner arc 108, the outer arc 106, and the imaging coil array 110 in the robotic system 1302. The robotic controller 1308 may include an embedded computer 1308- 1, one or more motor drivers 1308-2, and pneumatic valves 1308-3. The embedded computer 1308-1 and the one or more motor drivers 1308-2 may work together to control the inner arc 108, the outer arc 106, and the imaging coil array 110 in the robotic system 1302.

The pneumatic valves 1308-3 are connected to compressed air supply 1310. The pneumatic valves 1308-3 are devices that are used to control the air flow, pressure, and direction of compressed air in a pneumatic system. These pneumatic valves 1308-3 may regulate the air movement in the surgical system 1300. After the pneumatic valves 1308-3 receive the air from the compressed air supply 1310, the air may flow from the pneumatic valves 1308-3 to pneumatic motors 1302-1 in the robotic system 1302, which may be used to move the inner arc 108, the outer arc 106, and the imaging coil array 110 during the surgical procedure. The air used in the pneumatic motors 1302-1 ensures that robotic system 1302 is not affected by the effect of the magnetic fields of the magnetic resonance scanner 104. Fig. 14 schematically illustrates one embodiment of a surgical system 1300. The surgical system 1400 may utilize magnetic resonance scanner 104 to capture magnetic resonance images of patient-specific anatomy.

The surgical system 1400 includes a magnetic resonance scanner 1401, which is a magnetic resonance imaging (MRI) machine to be used to scan the MRI images of the patient’s head. A robotic system 1403 includes an inner arc and an outer arc which may also be used to place a surgical tool, such as a needle assembly, inside the patient’s head. A controller 1415 may be connected to the magnetic resonance scanner 1401 and the robotic system 1403. A terminal 1420 may be connected to the controller 1415.

The controller 1415 includes a drive circuitry 1416 and an evaluation device 1417. During the production of the MRI images, magnetic resonance signals may be acquired by the magnetic resonance scanner 1401. The magnetic resonance scanner 1401 is driven by the drive circuitry 1416 such that magnetic resonance data is acquired when the patient’s head is lying on the robotic system 1403.

The evaluation device 1417 acquires the captured magnetic resonance signals as raw data and stores, processes the raw data, and then produces the magnetic resonance images simultaneously when surgeons are performing the surgery on the patient’s head. For example, the evaluation device 1417 employs reconstruction to process the raw data that is read out, such that the processed raw data may be represented graphically on a display unit 1421 (e.g., on a screen 1421) of the terminal 1420, and images produced according to one or more of the present embodiments are displayed. The surgeons may control the robotic system 1403 based on the produced images shown on the display unit 1421.

Additionally, the display unit 1421 may further provide a control interface for the surgeons to use in order to accurately control the robotic system 1403 during the surgical procedure. For example, the surgeons may read the produced images from the magnetic resonance scanner 1401 and determine the location of the needle assembly in the robotic system 1403 to be inserted during the surgical procedure. The produced images from the magnetic resonance scanner 1401 and the movements of the robotic system 1403 are displayed and controlled simultaneously. In some examples, the display unit 1421 may display an optimal path for the movement of the needle assembly 114, which may guide the surgeon to perform a surgery during the surgical procedure.

In addition to the graphical representation of the image data reconstructed from the raw data, a user, when using the terminal 1420, which in addition to the screen 1421, includes an input device such as, for example a keyboard 1423 and/or a computer mouse 1424, may predetermine a target section that is to be measured as an imaging region and define further parameters for carrying out the method according to one or more of the present embodiments.

The software for the controller 1415 may be loaded into the controller 1415 via the terminal 1420. The software for the controller 1415 may also execute one of the methods of the present embodiments. In one embodiment, one of the methods according to one or more of the present embodiments is contained in a piece of software that runs in the terminal 1420. Regardless of which software the method is contained in, the software may be stored on an electronically readable data medium (e.g., a non-transitory computer-readable storage medium) such as, for example, a DVD 1425 e.g., the software may be read by the terminal 1420 from the DVD 1425 and may be copied either into the controller 1415 or into a computing unit of the terminal 1420, as described next with reference to Fig. 15.

Each of the functions of the described embodiments may be implemented by one or more processing circuits. A processing circuit includes a programmed processor (for example, processor 1503 in Fig. 15), as a processor includes circuitry. A processing circuit also includes devices such as an application-specific integrated circuit (ASIC) and circuit components that are arranged to perform the recited functions.

The various features discussed above may be implemented by a computer system (or programmable logic).

Fig. 15 illustrates such a computer system 1501. In one embodiment, the computer system 1501 is a particular, special-purpose machine when the processor 1503 is programmed to perform the functions described in the above embodiments.

The computer system 1501 includes a disk controller 1506 coupled to the bus 1502 to control one or more storage devices for storing information and instructions, such as a magnetic hard disk 1507, and a removable media drive 1508 (e.g., floppy disk drive, readonly compact disc drive, read/write compact disc drive, compact disc jukebox, tape drive, and removable magneto-optical drive). The storage devices may be added to the computer system 1501 using an appropriate device interface (e.g., small computer system interface (SCSI), integrated device electronics (IDE), enhanced-IDE (E-IDE), direct memory access (DMA), or ultra-DMA).

The computer system 1501 may also include special purpose logic devices (e.g., application specific integrated circuits (ASICs)) or configurable logic devices (e.g., simple programmable logic devices (SPLDs), complex programmable logic devices (CPLDs), and field programmable gate arrays (FPGAs)).

The computer system 1501 may also include a display controller 1509 coupled to the bus 1502 to control a display 1510, for displaying information to a computer user. The computer system includes input devices, such as a keyboard 1511 and a pointing device 1512, for interacting with a computer user and providing information to the processor 1503. The pointing device 1512, for example, may be a mouse, a trackball, a finger for a touch screen sensor, or a pointing stick for communicating direction information and command selections to the processor 1503 and for controlling cursor movement on the display 1510.

The processor 1503 executes one or more sequences of one or more instructions contained in a memory, such as the main memory 1504. Such instructions may be read into the main memory 1504 from another computer readable medium, such as a hard disk 1507 or a removable media drive 1508. One or more processors in a multi-processing arrangement may also be employed to execute the sequences of instructions contained in main memory 1504. In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions. Thus, embodiments are not limited to any specific combination of hardware circuitry and software.

As stated above, the computer system 1501 includes at least one computer readable medium or memory for holding instructions programmed according to any of the teachings of the present disclosure and for containing data structures, tables, records, or other data described herein. Examples of computer readable media are compact discs, hard disks, floppy disks, tape, magneto-optical disks, PROMs (EPROM, EEPROM, flash EPROM), DRAM, SRAM, SDRAM, or any other magnetic medium, compact discs (e.g., CD-ROM), or any other optical medium, punch cards, paper tape, or other physical medium with patterns of holes.

Stored on any one or on a combination of computer readable media, the present disclosure includes software for controlling the computer system 1501, for driving a device or devices for implementing the features of the present disclosure, and for enabling the computer system 1501 to interact with a human user. Such software may include, but is not limited to, device drivers, operating systems, and applications software. Such computer readable media further includes the computer program product of the present disclosure for performing all or a portion (if processing is distributed) of the processing performed in implementing any portion of the present disclosure.

The computer code devices of the present embodiments may be any interpretable or executable code mechanism, including but not limited to scripts, interpretable programs, dynamic link libraries (DLLs), Java classes, and complete executable programs. Moreover, parts of the processing of the present embodiments may be distributed for better performance, reliability, and/or cost.

The term “computer readable medium” as used herein refers to any non-transitory medium that participates in providing instructions to the processor 1503 for execution. A computer readable medium may take many forms, including but not limited to, non-volatile media or volatile media. Non-volatile media includes, for example, optical, magnetic disks, and magneto-optical disks, such as the hard disk 1507 or the removable media drive 1508. Volatile media includes dynamic memory, such as the main memory 1504. Transmission media, on the contrary, includes coaxial cables, copper wire and fiber optics, including the wires that make up the bus 1502. Transmission media also may also take the form of acoustic or light waves, such as those generated during radio wave and infrared data communications.

Various forms of computer readable media may be involved in carrying out one or more sequences of one or more instructions to processor 1503 for execution. For example, the instructions may initially be carried on a magnetic disk of a remote computer. The remote computer can load the instructions for implementing all or a portion of the present disclosure remotely into a dynamic memory and send the instructions over a telephone line using a modem. A modem local to the computer system 1501 may receive the data on the telephone line and place the data on the bus 1502. The bus 1502 carries the data to the main memory 1504, from which the processor 1503 retrieves and executes the instructions. The instructions received by the main memory 1504 may optionally be stored on storage device 1507 or 1508 either before or after execution by processor 1503.

The computer system 1501 also includes a communication interface 1513 coupled to the bus 1502. The communication interface 1513 provides a two-way data communication coupling to a network link 1514 that is connected to, for example, a local area network (LAN) 1515, or to another communications network 1516 such as the Internet. For example, the communication interface 1513 may be a network interface card to attach to any packet switched LAN. As another example, the communication interface 1513 may be an integrated services digital network (ISDN) card. Wireless links may also be implemented. In any such implementation, the communication interface 1513 sends and receives electrical, electromagnetic or optical signals that carry digital data streams representing various types of information.

The network link 1514 typically provides data communication through one or more networks to other data devices. For example, the network link 1514 may provide a connection to another computer through a local network 1515 (e.g., a LAN) or through equipment operated by a service provider, which provides communication services through a communications network 1516. The local network 1514 and the communications network 1516 use, for example, electrical, electromagnetic, or optical signals that carry digital data streams, and the associated physical layer (e.g., CAT 5 cable, coaxial cable, optical fiber, etc.). The signals through the various networks and the signals on the network link 1514 and through the communication interface 1513, which carry the digital data to and from the computer system 1501 may be implemented in baseband signals, or carrier wave-based signals. The baseband signals convey the digital data as unmodulated electrical pulses that are descriptive of a stream of digital data bits, where the term "bits" is to be construed broadly to mean symbol, where each symbol conveys at least one or more information bits. The digital data may also be used to modulate a carrier wave, such as with amplitude, phase and/or frequency shift keyed signals that are propagated over a conductive media or transmitted as electromagnetic waves through a propagation medium. Thus, the digital data may be sent as unmodulated baseband data through a "wired" communication channel and/or sent within a predetermined frequency band, different than baseband, by modulating a carrier wave. The computer system 1501 can transmit and receive data, including program code, through the network(s) 1515 and 1516, the network link 1514 and the communication interface 1513. Moreover, the network link 1514 may provide a connection through a LAN 1515 to a mobile device 1517 such as a personal digital assistant (PDA) laptop computer, or cellular telephone.

While aspects of the present disclosure have been described in conjunction with the specific embodiments thereof that are proposed as examples, alternatives, modifications, and variations to the examples may be made. It should be noted that, as used in the specification and the appended claims, the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise.

Claims

1. A surgical robot positionable inside a magnetic resonance imaging system configured to capture patient-specific anatomy images, comprising: an outer arc structure with a first semi -arc shape and having a first slide carriage; an inner arc structure with a second semi-arc shape and having a second slide carriage; a needle assembly driver attached to the first slide carriage and the second slide carriage, the needle assembly driver capable of holding a needle assembly; and one or more pneumatic motors coupled to the outer arc structure and the inner arc structure and configured to respectively impart movement to the first semi-arc shape, the second semi-arc shape, the first slide carriage, the second slide carriage, and the needle assembly driver.

2. The surgical robot of claim 1, wherein the outer arc structure is positioned inside the magnetic resonance imaging system, and a first diameter of the first semi-arc shape is greater than a second diameter of the second semi-arc shape.

3. The surgical robot of claim 2, wherein an imaging coil with a third semi-arc shape is incorporated into the surgical robot.

4. The surgical robot of claim 3, wherein the imaging coil is positioned inside the inner arc structure.

5. The surgical robot of claim 4, wherein the outer arc structure is positioned between the magnetic resonance imaging system and the inner arc structure, and wherein the inner arc structure is positioned between the outer arc structure and the imaging coil.

6. The surgical robot of claim 1, further comprising one or more fiducial markers, wherein the one or more fiducial markers are positioned on a bottom plate of the surgical robot, the one or more fiducial markers are visible reference markers for the magnetic resonance imaging system.

7. The surgical robot of claim 1, wherein the first slide carriage moves along a first rail of the outer arc structure, and the second slide carriage moves along a second rail of the inner arc structure.

8. The surgical robot of claim 7, wherein the outer arc structure, the inner arc structure, an imaging coil, and the one or more pneumatic motors are made of materials that are impervious to magnetic effects of the magnetic resonance imaging system.

9. The surgical robot of claim 1, wherein the needle assembly is capable of moving vertically along a direction perpendicular to a first circumference of the outer arc structure and a second circumference of the inner arc structure, wherein the needle assembly is capable of moving tangential to the first circumference of the outer arc structure and the second circumference of the inner arc structure, and wherein the needle assembly includes an interoperative device having a needle-like shape.

10. The surgical robot of claim 1, wherein the needle assembly is capable of being rotated along a trajectory parallel to a direction extending from a patient’s forehead to mouth when a patient’s head lays on a bottom plate of the surgical robot, and wherein the needle assembly is capable of moving along a trajectory perpendicular to the direction extending from the patient’s forehead to mouth.

11. The surgical robot of claim 1, further comprising actuators in the needle assembly driver configured to advance the needle assembly into a patient, withdraw the needle assembly from the patient, and rotate the needle assembly along their axis.

12. A method for performing a surgical procedure using a surgical robot positionable inside a magnetic resonance imaging system configured to capture patient-specific anatomy images, including an outer arc structure with a first semi-arc shape having a first slide carriage, an inner arc structure with a second semi-arc shape having a second slide carriage, a needle assembly guide attached to the first slide carriage and the second slide carriage, a needle assembly driver capable of holding a needle assembly, an imaging coil with a third semi-arc shape positioned below the second semi-arc shape, and one or more pneumatic motors configured to move the first semi-arc shape, the second semi-arc shape, the first slide carriage, the second slide carriage, and the needle assembly driver, comprising: generating one or more magnetic resonance (MRI) images captured by the magnetic resonance imaging system, the MRI images taken in real-time during the surgical procedure; determining a target location based on the one or more images for performing the surgical procedure; controlling the surgical robot to move the needle assembly for the surgical procedure based on the target location; and performing the surgical procedure at the target location using the needle assembly, wherein the magnetic resonance imaging system captures the MRI images during movement of the needle assembly.

13. The method of claim 12, wherein the needle assembly driver includes a pneumatic actuator.

14. The method of claim 12, wherein the method further comprises moving the imaging coil so that the imaging coil does not interfere with advancement of the needle assembly to the target location.

15. The method of claim 12, wherein the method further comprises controlling the needle assembly to move vertically along a direction perpendicular to a first circumference of the outer arc structure and a second circumference of the inner arc structure; move tangentially to the first circumference of the outer arc structure and the second circumference of the inner arc structure; rotate along a trajectory parallel to a direction extending from a patient's forehead to mouth; and rotate along a trajectory perpendicular to the direction extending from the patient's forehead to mouth.

16. A system for performing a surgical procedure using a surgical robot positionable inside a magnetic resonance imaging system configured to capture patient-specific anatomy images, including an outer arc structure with a first semi-arc shape having first slide carriage, an inner arc structure with a second semi-arc shape having a second slide carriage, a needle assembly guide attached to the first slide carriage and the second slide carriage, the needle assembly guide capable of holding a needle assembly, an imaging coil with a third semi-arc shape positioned below the needle assembly guide, and one or more pneumatic motors coupled to the outer arc structure and the inner arc structure and configured to respectively impart movement to the first semi-arc shape, the second semi -arc shape, the first slide carriage, the second slide carriage, and a needle assembly driver, comprising: circuitry configured to: process one or more magnetic resonance (MRI) images captured by a magnetic resonance imaging system, the MRI images taken in real-time during the surgical procedure; determine a target location based on the one or more images for performing the surgical procedure; control a robotic system to move a needle assembly for the surgical procedure based on the target location; and perform the surgical procedure at the target location using the needle assembly actuated by a needle assembly driver, wherein the magnetic resonance imaging system captures the MRI images during movement of the needle assembly.

17. The system of claim 16, wherein the needle assembly driver includes a pneumatic actuator.

18. The system of claim 16, wherein the robotic system, the needle assembly, and the needle assembly driver are made of a material that is impervious to magnetic effects.

19. The system of claim 16, wherein the circuitry is further configured to control an outer slider on an outer arc structure, and an inner slider on an inner arc structure.

20. The system of claim 16, wherein the circuitry is further configured to control the needle assembly to move vertically along a direction perpendicular to a first circumference of the outer arc structure and a second circumference of the inner arc structure; move tangential to the first circumference of the outer arc structure and the second circumference of the inner arc structure; rotate along a trajectory parallel to a direction extending from a patient's forehead to mouth; and rotate along a trajectory perpendicular to the direction extending from the patient's forehead to mouth.