Bi-planar fluoroscopy guided robot system for minimally invasive surgery and the control method thereof

• US 8,046,054 B2
• Filed: 09/11/2006
• Issued: 10/25/2011
• Est. Priority Date: 01/23/2006
• Status: Expired due to Fees

• Current Assignee: Industry-University Cooperation Foundation Hanyang University
• Original Assignee: Industry-University Cooperation Foundation Hanyang University A University Foundation of Seoul
• Inventors: Kim, Sung-min, Oh, Se-Min, Yi, Byung-Ju, Kim, Young Soo, Park, Jong-Il
• Primary Examiner(s): Chen; Tse
• Assistant Examiner(s): IP, JASON M
• Application Number:
  US11/530,653
• Publication Number:
  US 20100249800A1
• Time in Patent Office: 1,870 Days
• Field of Search: 600/427, 600/424, 901/15, 378/4
• US Class Current: 600/427
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 6/4014 arranged in multiple source-detector units
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm

Abstract

Disclosed is a computer-integrated surgery aid system for minimally invasive surgery and a method for controlling the same. The system includes a surgery planning system for creating three-dimensional information from two-dimensional images obtained by means of biplanar fluoroscopy so that spinal surgery can be planned according to the image information and a scalar-type 6 degree-of-freedom surgery aid robot adapted to be either driven automatically or operated manually.

Claims

1. A computer-integrated surgery aid system for minimally invasive surgery using a computer and a surgery aid robot, the system comprising:

a frame having a ring shape;

a plurality of radioactive generators positioned on an identical vertical surface of the frame at intervals of 90°

, the radioactive generators irradiating X-ray signals through a surgical space, as well as to upper and lateral surfaces of a surgical object, respectively, when the surgical object is placed within the surgical space;

a plurality of image pickups positioned on the frame while facing the radioactive generators, respectively, the image pickups receiving planar and lateral radioactive rays transmitted through the surgical space, as well as through the surgical object when the surgical object is within the surgical space;

a surgery aid robot;

a computer for receiving planar and lateral two-dimensional images of the surgical space alone, as well as for receiving planar and lateral two-dimensional images of the surgical space when the surgery aid robot is moved along a predetermined path within the surgical space to obtain image coordinates of the surgery aid robot,

wherein the computer performs least square fitting using the image coordinates to align the surgical aid robot directly with the surgical space, and

wherein the computer also receives planar and lateral two-dimensional images of the surgical object from the image pickups when the surgical object is placed within the surgical space, and the computer processes the two-dimensional images of the surgical object according to an algorithm so that three-dimensional position information of the surgical object is created with respect to the alignment between the surgical space and the surgery aid robot;

a monitor for displaying both two-dimensional images processed by the computer and an image corresponding to the three-dimensional position information;

the surgery aid robot for guiding the position and entry angle of a surgical instrument according to a position of the surgical object with reference to data obtained from the computer, the surgery aid robot having a plurality of robot links connected to one another by joints, a surgical instrument support platform coupled to a guide arm, and a guide arm rotational means for rotating the guide arm so that an angle of the surgical instrument support platform is adjustable,

wherein the guide arm'"'"'s rotational means is a differential device for transmitting rotational force of a reduction motor positioned on a robot arm adjacent to the guide arm so that the guide arm is rotated axially and vertically, and

wherein the differential device comprises a driving gear rotated by the driving force of the reduction motor;

a pair of differential pinions engaging with the driving gear and rotating synchronously, the differential pinions being positioned on both sides of a differential shaft coaxial with the robot arm adjacent to the guide arm; and

a differential side gear positioned on a shaft of the guide arm, both sides of the differential side gear engaging with the differential pinions, respectively.

2. The system as claimed in claim 1, further comprising:

model disks for measurement, the model disks being fixedly positioned on an end of a first image pickup of the plurality of image pickups that receives the lateral radioactive rays and on an end of a second image pickup of the plurality of image pickups that receives the planar radioactive rays, wherein each of the model disks comprises reference points marked on the model disks, and

wherein each of the model disks further comprises transparent front and rear plates that are spaced apart a predetermined distance by a barrier, the front plate being larger in diameter than the rear plate and each of the front and rear plates having respective reference points marked thereon for facilitating measurement of the lateral and planar images and a rotational angle of the images.

3. The system as claimed in claim 1, wherein the differential device comprises a pair of reduction motors and a pair of driving gears so that the differential pinions engage with the respective driving gears and rotate accordingly.

4. The system as claimed in claim 1, wherein the surgical instrument support table has an instrument tool, and an instrument insertion hole is formed at a center of the instrument tool so that the surgical instrument is inserted into the instrument insertion hole and moved.

9. The system as claimed in claim 1, wherein at least a second robot link of the plurality of robot links has a manufactured bend therein to minimize the size of the whole robot arm;

and wherein the manufactured bend is between 70 and 120 degrees.

10. The system as claimed in claim 9, wherein the manufactured bend is 90 degrees.

5. A computer-integrated surgery control method for minimally invasive surgery using a computer and a surgery aid robot, the method comprising the steps of:

(a) obtaining biplanar images of a surgical space absent a surgical object;

(b) subsequently moving the surgery aid robot along a predetermined path within the surgical space and photographing the surgery aid robot as the surgery aid robot moves within the surgical space to obtain image coordinates of the surgery aid robot within the surgical space;

(c) aligning the biplanar images of the surgical space with the image coordinates of the surgery aid robot within the surgical space by defining a coordinate relationship between the biplanar images and the image coordinates;

(d) thereafter positioning a surgical object within the surgical space and obtaining planar and lateral images of the surgical object;

(e) selecting a point corresponding to a surgical part of the surgical object and creating three-dimensional position information by the computer so that a surgery path is planned with respect to the point;

(f) transmitting surgery path data to the surgery aid robot; and

(g) guiding position and entry angle of a surgical instrument according to the position of the surgical part with reference to the surgery path data by the surgery robot,

wherein each of a first three robot links of the plurality of robot links comprises a rotational means, the rotational means comprising a reduction motor and a differential device for transmitting rotational force of the reduction motor to a sequential robot link, the rotational means being positioned such that each of the plurality of robot links can be rotated axially and vertically.

6. The method as claimed in claim 5, wherein the method further comprises the steps of:

fixedly setting model disks for measurement on planar and lateral image pickups for measurement of fluoroscopic images;

irradiating radioactive rays in planar and lateral directions with the model disks being set and obtaining two-dimensional images in both directions;

receiving both two-dimensional images and displaying the images in real time with the computer;

rotating the images in a reverse direction by a rotational angle and displaying the images on a screen so that the rotational angle of the images measured via the model disks is compensated for;

moving the surgery aid robot along a predetermined path, photographing the surgery aid robot, performing least square fitting by using the coordinates of an end point of the surgery aid robot, the coordinates resulting from photography, and aligning the surgical space with the image coordinates; and

defining a relationship between two coordinate systems by aligning the three-dimensional coordinates of the surgery aid robot with the three-dimensional coordinates of the images.

7. The method as claimed in claim 6, wherein the displaying the images on a screen further comprises displaying a total of four images, the four images including a planar image, a lateral image, and two corrected images.

8. The method as claimed in claim 6, wherein, when the relationship between two sets of coordinates is specified by using the coordinates of the end point of the surgery aid robot and the coordinates being obtained from the planar and lateral images, the end point of the surgery aid robot is directly clicked and found by a user based on automatic movement of the surgery aid robot and an image reflecting the movement, and the point is used to perform a predetermined algorithm and to specify the relationship between the two sets of coordinates.