INTEGRATED MEDICAL IMAGING AND SURGICAL ROBOTIC SYSTEM
First Claim
1. A method of performing robotically-assisted surgery, comprising:
- moving a robotic arm with respect to a patient and an imaging device to move an end effector of the robotic arm to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device, wherein the robotic arm maintains the end effector in the pre-determined position and orientation with respect to the patient and does not collide with the imaging device or with the patient when the imaging device moves with respect to the patient.
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Accused Products
Abstract
Methods and systems for performing robotically-assisted surgery in conjunction with intra-operative imaging. A method includes moving a robotic arm with respect to a patient and an imaging device to move an end effector of the robotic arm to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device. The robotic arm maintains the end effector in the pre-determined position and orientation with respect to the patient and does not collide with the imaging device or with the patient when the imaging device moves with respect to the patient.
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Citations
58 Claims
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1. A method of performing robotically-assisted surgery, comprising:
moving a robotic arm with respect to a patient and an imaging device to move an end effector of the robotic arm to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device, wherein the robotic arm maintains the end effector in the pre-determined position and orientation with respect to the patient and does not collide with the imaging device or with the patient when the imaging device moves with respect to the patient. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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41. A system for performing robotically-assisted surgery, comprising:
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a robotic arm having an end effector that is movable with respect to a patient and an imaging device, wherein the imaging device is configured to move with respect to the patient and obtain imaging data of the patient; and a processor coupled to the at least one robotic arm and configured with processor-executable instructions to perform operations comprising; controlling the robotic arm to move the end effector to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device, wherein the robotic arm is controlled such that it does not collide with the imaging device or with the patient when the imaging device moves with respect to the patient. - View Dependent Claims (42)
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43. A system for performing robotically-assisted surgery, comprising:
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a patient support; an imaging device that is movable with respect to the patient support to obtain imaging data of a patient positioned on the patient support; a robotic arm configured to move an end effector of the robotic arm to a pre-determined position and orientation with respect to the patient positioned on the patient support based on imaging data obtained by the imaging device; and a motion tracking apparatus comprising a camera attached to the imaging device or the patient support that is configured to track the position of one or more objects in a surgical area. - View Dependent Claims (44)
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45. A system for performing robotically-assisted surgery, comprising:
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an x-ray imaging device comprising an x-ray source and an x-ray detector mounted to a support structure such that at least one of the x-ray source and the x-ray detector is configured to rotate with respect to the support structure to obtain x-ray images from different projection angles relative to an object being imaged; and a robotic arm having a first end configured to extend into an imaging area between the source and the detector and a second end attached to the support structure. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58)
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Specification