System and method for augmentation of surgery
First Claim
1. A method of performing a surgical procedure on a patient comprising steps of:
- inserting an optical viewing device into the patient;
supplying an image output from the optical viewing device to an image processing system; and
limiting movement of a surgical instrument by a computer connected to a computer controlled limiter having the surgical instrument connected thereto, the step of limiting movement being based, at least partially, upon signals sent by the image processing system to the computer.
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Accused Products
Abstract
The system and method includes a manipulator for manipulating a surgical instrument relative to a patient'"'"'s body and, a position sensor for sensing the position of the surgical instrument relative to the patient'"'"'s body. The manipulator can be manually or computer actuated and can have brakes to limit movement. In a preferred embodiment, orthogonal only motion between members of the manipulator is provided. The position sensor includes beacons connected to the patient and manipulator or surgical instrument and, a three dimensional beacon sensor adapted to sense the location and position of the beacons. Redundant joint sensors on the manipulator may also be provided. The system and method uses a computer to actively interact with the surgeon and can use various different input and output devices and modes.
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Citations
19 Claims
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1. A method of performing a surgical procedure on a patient comprising steps of:
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inserting an optical viewing device into the patient;
supplying an image output from the optical viewing device to an image processing system; and
limiting movement of a surgical instrument by a computer connected to a computer controlled limiter having the surgical instrument connected thereto, the step of limiting movement being based, at least partially, upon signals sent by the image processing system to the computer. - View Dependent Claims (2, 3, 4, 5)
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6. A method for controlling movement of a surgical instrument comprising steps of:
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manually moving the surgical instrument by a surgeon while the instrument is inside a patient; and
limiting movement of the surgical instrument while the instrument is inside the patient, the step of limiting comprising applying a computer controller motion limiting force to a manipulator holding the surgical instrument while manual only force is imparted to the instrument by the surgeon. - View Dependent Claims (7, 8, 9)
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10. A method of taking a biopsy of tissue from a patient comprising steps of:
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inserting a surgical instrument into a patient;
moving the surgical instrument predominantly by manual motion by a surgeon, while the instrument is inside the patient, to a target area of the tissue, and limiting movement of the surgical instrument inside the patient to a predetermined surgical plan, the step of limiting comprising a computer controlled motion limiter attached to the surgical instrument limiting movement of the instrument based upon the plan stored in a memory of the computer. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A method of performing a neurological surgical procedure comprising steps of:
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inserting a surgical instrument into a skull of a patient; and
limiting manual movement of the surgical instrument by a surgeon while the instrument is inside the skull based upon a predetermined surgical plan, the step of limiting comprising a computer controlled motion limiter being attached to the surgical instrument and applying a computer controlled motion limiting force to movement of the surgical instrument beyond limits of the surgical plan. - View Dependent Claims (17, 18, 19)
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Specification