SYSTEM AND METHOD FOR ROBOTIC SURGICAL INTERVENTION

• US 20110077504A1
• Filed: 08/31/2010
• Published: 03/31/2011
• Est. Priority Date: 08/31/2009
• Status: Active Grant

• Current Assignee: University Of Massachusetts, Worcester Polytechnic Institute
• Original Assignee: Worcester Polytechnic Institute
• Inventors: Fischer, Gregory S., Cole, Gregory A.
• Granted Patent: US 9,844,414 B2
• Time in Patent Office: Days
• US Class Current: 600/411
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

A system and method for image guided assisted medical procedures. The system and method may utilize MRI real time guidance during the above procedures.

Claims

1. A modular system for image guided assisted medical procedure, the system comprising:

a manipulator for a specific medical procedure;

a controller connected to said manipulator and directing at least one motion thereof, said controller also capable of directing at least one other manipulator;

an imaging device enabling visualization of a tissue at said specific medical procedure; and

a computer connected to said imaging device and said controller,

wherein the computer collects and processes images from said imaging device and instructs said controller to direct said manipulator.

2. The system of claim 1, wherein said medical procedure is a surgical procedure.

3. The system of claim 2, wherein said surgical procedure is a deep brain stimulation procedure.

4. The system of claim 2, wherein said surgical procedure is performed in the presence of an MRI scanner.

5. The system of claim 4, wherein at least part of the surgical procedure is performed within the MRI scanner.

6. The system of claim 5, wherein interactively updated MRI images are used to guide the image guided assisted system.

7. A modular system for image guided robotic assisted medical procedure, the system comprising:

a manipulator for performing a deep brain stimulation procedure;

a controller connected to said manipulator and directing at least one motion thereof, said controller also capable of directing at least one other manipulator;

an imaging device enabling visualization of a tissue at said deep brain stimulation procedure; and

a computer connected to said imaging device and said controller,

wherein the computer collects and processes images from said imaging device and instructs said controller to direct said manipulator.

8. The system of claim 7, wherein the imaging device is an MRI scanner.

9. The system of claim 8, wherein the manipulator is designed to operate in the MRI environment.

10. The system of claim 9, wherein the manipulator is designed to operate with a minimal degradation of MRI image quality.

11. A method for image guided robotic assisted medical procedure, the method comprising:

identifying an area of a body for a medical procedure;

defining at least one motion of an instrument, said at least one motion being required for performing the medical procedure;

assembling a manipulator adapted for said medical procedure, said assembling comprising identifying linkages for performing said at least one motion, and selecting actuators and sensors for connecting to said linkages for controlling movements thereof; and

connecting said manipulator to a controller capable of directing said manipulator, said controller also capable of directing at least one other manipulator.

12. The method of claim 11, wherein the medical procedure is deep brain stimulation lead placement.

13. The method of claim 11, wherein the manipulator encompasses an actuator module and an end effector.

14. The method of claim 11, wherein at least part of the manipulator is application specific.

15. The method of claim 14, wherein at least part of the manipulator is patient specific.

16. The method of claim 11, wherein the method is designed to operate in an MRI scanner environment.