Interactive image-guided surgical system

• US 5,142,930 A
• Filed: 03/29/1991
• Issued: 09/01/1992
• Est. Priority Date: 11/10/1987
• Status: Expired due to Term

• Current Assignee: Marker
• Original Assignee: Charles A. Edwards II, George S. Allen, Martin R. Zink, Robert J. Maciunas, Robert L. Galloway Jr
• Inventors: Galloway, Robert L. Jr., Maciunas, Robert J., Allen, George S., Zink, Martin R., Edwards, Charles A. II
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): Krolikowski, Julie
• Application Number:
  US07/677,083
• Time in Patent Office: 522 Days
• Field of Search: 74/469, 901/2, 901/15, 901/28, 901/41, 901/47, 414/4, 318/568.11, 364/DIG. A, 364/DIG. U
• US Class Current: 74/469
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4423 related to hygiene or sterilisation
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: Y10T 74/20 Control lever and linkage systems

Abstract

An interactive system for guiding the use of a surgical tool uses at least one imaging technique, such as CT scanning. A mechanical arm has a fixed base at a first end and a tool holder that holds the surgical tool at a second end. A display displays one or more images from the image space of a patient'"'"'s anatomy. A computer is coupled to the display and the mechanical arm. The computer tracks the location of the surgical tool through physical space, performs a transforming rotation of the physical space to the image space, and causes the display to display the location of the surgical tool within the image space.

Claims

1. A mechanical arm that is manipulable by a human operator, with the movement of the arm being trackable by a computer coupled to the arm, comprising:

a base that is fixable to a surface;

a first pair of joints coupled to said base;

a first arm link coupled at a first end to the first pair of joints and having two degrees of freedom provided by said first pair of joints;

a second pair of joints coupled to a second end of said first arm link;

a second arm link coupled to a first end to the second pair of joints and having four degrees of freedom provided by said first and second pairs of joints;

a third pair of joints coupled to a second end of said second arm link;

a tool holder coupled to said third pair of joints and having six degrees of freedom provided by said first, second and third pairs of joints;

a separate encoder coupled to each joint that electrically encodes movement of a joint relative to another joint and produces signals indicating the amount and direction of movement of the joint; and

wherein each of said arm links has a longitudinal axis, said pairs of joints define axes of rotation for adjoining arm links, and each of said axes of rotation is free to assume an orientation that is not parallel to the longitudinal axis of either of said adjoining arm links.

2. A mechanical arm that is manipulable by a human operator, with the movement of the arm being trackable by a computer coupled to the arm, comprising:

a base that is fixable to a surface;

a first pair of joints coupled to said base;

a first arm link coupled at a first end to the first pair of joints and having two degrees of freedom provided by said first pair of joints;

a second pair of joints coupled to a second end of said first arm link;

a second arm link coupled to a first end to the second pair of joints and having four degrees of freedom provided by said first and second pairs of joints;

a third pair of joints coupled to a second end of said second arm link, wherein said pairs of joints are of the gimbal type;

a tool holder coupled to said third pair of joints and having six degrees of freedom provided by said first, second and third pairs of joints; and

a separate encoder coupled to each joint that electrically encodes movement of a joint relative to another joint and produces signals indicating the amount and direction of movement of the joint.

8. The arm of claim 2, wherein said gimbal joints and said first and second arm links are made of stainless steel.

3. A mechanical arm that is manipulable by a human operator, with the movement of the arm being trackable by a computer coupled to the arm, comprising:

a base that is fixable to a surface;

a first pair of joints coupled to said base;

a first arm link coupled at a first end to the first pair of joints and having two degrees of freedom provided by said first pair of joints;

a second pair of joints coupled to a second end of said first arm link;

a second arm link coupled to a first end to the second pair of joints and having four degrees of freedom provided by said first and second pair of joints;

a third pair of joints coupled to a second end of said second arm link;

a tool holder coupled to said third pair of joints and having six degrees of freedom provided by said first, second and third pairs of joints; and

a separate optical encoder coupled to each joint that electrically encodes movement of a joint relative to another joint and produces signal indicating the amount and direction of movement of the joint.

4. The arm of claim 3, wherein the optical encoders are mounted within the joints.

5. The arm of claim 4, wherein each optical encoder includes a gear that drives the optical encoder, and each joint has a gear that is coupled to the joint and which drives the optical encoder gear, the joint gear and the optical encoder gear meshing at an angle so as to prevent backlash.

6. The arm of claim 5, wherein said angle is 6°

.

7. The arm of claim 5, wherein said gears are quarter pitch spur gears.

9. A mechanical arm that is manipulable by a human operator, with the movement of the arm being trackable by a computer coupled to the arm, comprising:

a base that is fixable to a surface;

a first pair of joints coupled to said base;

a first arm link coupled at a first end to the first pair of joints and having two degrees of freedom provided by said first pair of joints;

a second pair of joints coupled to a second end of said first arm link;

a second arm link coupled to a first end to the second pair of joints and having four degrees of freedom provided by said first and second pairs of joints;

a third pair of joints coupled to a second end of said second arm link;

a tool holder coupled to said third pair of joints and having six degrees of freedom provided by said first, second and third pairs of joints;

a separate encoder coupled to each joint that electrically encodes movement of a joint relative to another joint and produces signals indicating the amount and direction of movement of the joint; and

wherein said arm is sterilizable.

10. A mechanical arm that is manipulable by a human operator, with the movement of the arm being trackable by a computer coupled to the arm, comprising:

a base that is fixable to a surface;

a first pair of joints coupled to said base;

a first arm link coupled at a first end to the first pair of joints and having two degrees of freedom provided by said first pair of joints;

a second pair of joints coupled to a second end of said first arm link;

a second arm link coupled to a first end to the second pair of joints and having four degrees of freedom provided by said first and second pairs of joints;

a third pair of joints coupled to a second end of said second arm link;

a tool holder coupled to said third pair of joints and having six degrees of freedom provided by said first, second and third pairs of joints, wherein said tool holder is adapted to hold different types of surgical tools; and

a separate encoder coupled to each joint that electrically encodes movement of a joint relative to another joint and produces signals indicating the amount and direction of movement of the joint.