TRANSCUTANEOUS ROBOT-ASSISTED ABLATION-DEVICE INSERTION NAVIGATION SYSTEM
First Claim
1. A method of computer-aided surgery having robot assisted needle insertion, comprising:
- preoperatively imaging a target tumor area and planning target needle positions, resulting in a preoperative treatment plan;
using a 3D coordinate tracking system, translating the preoperative treatment plan into intraoperative execution, wherein the preoperative treatment plan has target needle positions in image coordinates, and the translating (i) transforms target needle positions to real world coordinates and (ii) digitally computes a joint trajectory plan by converting a design specific kinematic model for treating the target tumor area to robotic paths; and
robotically executing transcutaneous insertion of a needle following the robotic paths of the joint trajectory plan.
1 Assignment
0 Petitions
Accused Products
Abstract
A robotic system for overlapping radiofrequency ablation (RFA) in tumor treatment is disclosed. The robot assisted navigation system is formed of a robotic manipulator and a control system designed to execute preoperatively planned needle trajectories. Preoperative imaging and planning is followed by interoperative robot execution of the ablation treatment plan. The navigation system combines mechanical linkage sensory units with an optical registration system. There is no requirement for bulky hardware installation or computationally demanding software modules. Final position of the first needle placement is confirmed for validity with the plan and then is used as a reference for the subsequent needle insertions and ablations.
196 Citations
16 Claims
-
1. A method of computer-aided surgery having robot assisted needle insertion, comprising:
-
preoperatively imaging a target tumor area and planning target needle positions, resulting in a preoperative treatment plan; using a 3D coordinate tracking system, translating the preoperative treatment plan into intraoperative execution, wherein the preoperative treatment plan has target needle positions in image coordinates, and the translating (i) transforms target needle positions to real world coordinates and (ii) digitally computes a joint trajectory plan by converting a design specific kinematic model for treating the target tumor area to robotic paths; and robotically executing transcutaneous insertion of a needle following the robotic paths of the joint trajectory plan. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A computer-aided surgery system having robot assisted needle insertion, comprising:
-
a 3D coordinate tracking system; and a robotic needle insertion device providing intraoperative navigational guidance for needle placement, and a processor in communication with the robotic needle insertion device, wherein a preoperative treatment plan is formed based on images of a target and initial planned target needle positions, the processor using the 3D coordinate tracking system and translating the preoperative treatment plan into intraoperative execution by the robotic needle insertion device, wherein the preoperative treatment plan has target needle positions in image coordinates, and the processor translating includes (i) transforming target needle positions to real world coordinates and (ii) digitally computing a joint trajectory plan by converting a design specific kinematic model to robotic paths, in a manner enabling the robotic needle insertion device to robotically execute transcutaneous insertion of a needle following the robotic paths. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
-
Specification