Miniature bone-attached surgical robot and method of use thereof

• US 8,571,638 B2
• Filed: 03/17/2010
• Issued: 10/29/2013
• Est. Priority Date: 07/24/2000
• Status: Expired due to Term

• Current Assignee: Mazor Robotics, Ltd (Medtronic Plc)
• Original Assignee: Mazor Robotics, Ltd (Medtronic Plc)
• Inventors: Shoham, Moshe
• Primary Examiner(s): Chen, Tse
• Assistant Examiner(s): REMALY, MARK DONALD
• Application Number:
  US12/725,481
• Publication Number:
  US 20100198230A1
• Time in Patent Office: 1,322 Days
• Field of Search: 600/417, 600/421, 600/427, 600/429, 606/130
• US Class Current: 600/427
• CPC Class Codes: A61B 17/1757 for the spine
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 6/583 using calibration phantoms
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

A miniature surgical robot is attached directly to the bone of a patient at a surgical site, thereby locating the robot precisely on the bone. Intraoperative two-dimensional images of the robot on the bone together with an image referencing element disposed in a predetermined position relative to the robot, are correlated to form a three dimensional image. One or more windows of this three dimensional image are registered with similarly located windows in a preoperative three-dimensional image of the surgical site, the preoperative image including details of the surgeon'"'"'s plan. This registration of these windows defines the referencing element position in the preoperative image, and hence the robot location in the preoperative image. This enables the robot to be directed to pre-operative determined positions based on the pre-operative plan to perform a surgical procedure.

Claims

1. A method for performing a surgical procedure at a surgical site, comprising:

utilizing an initial three dimensional image of said surgical site to provide a surgical plan of said procedure;

attaching an attachment member to a bone associated with the surgical site, the attachment member being configured and dimensioned for use by a surgical robot;

generating at least two intraoperative images of said surgical site including an image referencing element attached to said attachment member, such that the position of the attachment member is known relative to said image referencing element;

thereafter, mounting said robot on said attachment member;

correlating said at least two intraoperative images to form a pseudo three dimensional image, including said image referencing element;

selecting a first window from said pseudo three dimensional image, said first window being selected from the region of said attachment member to include features associated with said bone, and registering said first window with a second window in a similarly selected position from said initial three dimensional image, whereby to form a window registration;

utilizing said window registration to correlate said pseudo three dimensional image with said initial three dimensional image such that the location of said image referencing element is determined with respect to said initial three dimensional image; and

utilizing said surgical robot to perform said surgical procedure in accordance with said surgical plan.

2. A method according to claim 1, wherein said image referencing element comprises at least three reference markers having known mutual positions.

3. A method according to claim 1, wherein said image referencing element which is included in said pseudo three dimensional image is utilized to correlate the position of said attachment member to said bone.

4. A method according to claim 1, wherein said initial three dimensional image comprises at least one of a magnetic resonance image, a Computerized Tomography image, an ultrasound image or an image extracted from a CAD model.

5. A method according to claim 1, wherein said at least two intraoperative images of the surgical site comprise at least two C-arm X-ray images.

6. A method according to claim 5, wherein said at least two C-arm images are taken at angles substantially spaced from each other.

7. A method according to claim 1, further comprising:

prior to forming said pseudo three dimensional image of the surgical site, calibrating said at least two intraoperative images using said image reference element.

8. A method according to claim 1, further comprising:

prior to generating said pseudo three dimensional image of the surgical site, calibrating said at least two intraoperative images using known reference dimensions associated with said attachment member.

9. A method according to claim 1, wherein said correlating the pseudo three dimensional image with the initial three dimensional image comprises registering additional windows of said initial three dimensional image with additional windows of said pseudo three dimensional image.

10. A method according to claim 1, further comprising:

providing a surgical tool for said surgical robot; and

using said robot to position said surgical tool according to the surgical plan.

11. A method according to claim 10, wherein said surgical tool includes a guide sleeve, and said method further comprises inserting said tool through said guide sleeve to said surgical site.

12. A method according to claim 1, wherein said registering said windows is based on either matching of geometric features in said first window of said pseudo three dimensional image with geometric features in said second window, or on matching of intensity features in said first window of said pseudo three dimensional image with intensity features in said second window.

13. A method according to claim 12, wherein said geometric features are any one of anatomical landmarks, implanted fiducials or contour points.

14. A method according to claim 1, wherein said attachment member is operative as a base for mounting said image referencing element, and thereafter, as a base for mounting said robot.

15. A method for performing a surgical procedure at a surgical site, comprising:

utilizing an initial three dimensional image of said surgical site to provide a surgical plan of said procedure;

attaching a surgical robot to a bone associated with the surgical site, said robot having at least one of (a) known dimensions or (b) markers attached to it in predetermined locations;

generating at least two intraoperative images of said surgical site, which intraoperative images include at least one of (a) said known dimensions of said robot or (b) said markers attached in predetermined locations to said robot;

correlating said at least two intraoperative images to form a pseudo three dimensional image, which pseudo three dimensional image includes at least one of (a) said known dimensions of said robot or (b) said markers;

selecting a first window from said pseudo three dimensional image, said first window being selected to include features associated with said bone, and registering said first window with a second window in a similarly selected position from said initial three dimensional image, whereby to form a window registration;

utilizing said window registration to correlate said pseudo three dimensional image with said initial three dimensional image such that the location of said robot is determined with respect to said initial three dimensional image; and

utilizing said surgical robot to perform said surgical procedure in accordance with said surgical plan.

16. A method according to claim 15, wherein said inclusion of at least one of (a) said known dimensions of said robot or (b) said markers attached in predetermined locations to said robot in said pseudo three dimensional image is utilized to correlate the position of said robot to said bone.

17. A method according to claim 15, wherein said correlating the pseudo three dimensional image with the initial three dimensional image comprises registering additional windows of said initial three dimensional image with additional windows of said pseudo three dimensional image.

18. A method according to claim 15, further comprising:

providing a surgical tool for said surgical robot; and

using said robot to position said surgical tool according to the surgical plan.

19. A method according to claim 15, wherein said window registration is based either on matching of geometric features in said first window of said pseudo three dimensional image with geometric features in said second window in a similarly selected position from said initial three dimensional image, or on matching of intensity features in said first window of said pseudo three dimensional image with intensity features in said second window in a similarly selected position from said initial three dimensional image.

20. A method according to claim 19, wherein said geometric features are any one of anatomical landmarks, implanted fiducials or contour points.

21. A system for performing a surgical procedure at a surgical site, comprising:

a surgical robot for manipulating a tool to said surgical site;

an attachment member configured and dimensioned to attach the surgical robot to a bone associated with said surgical site;

an image referencing element adapted to be attached to said attachment member, such that the position of said attachment member is known relative to said image referencing element; and

a controller programmed to direct the robot to position the surgical tool at the surgical site,

wherein said controller is adapted to enable the system to perform the following steps of;

utilizing an initial three dimensional image of said surgical site to provide a surgical plan of said procedure;

correlating at least two intraoperative images of said surgical site, said images including said image referencing element but not including said surgical robot, to form a pseudo three dimensional image including said image referencing element;

selecting a first window from said pseudo three dimensional image, said first window being selected from the region of said attachment member to include features associated with said bone, and registering said first window with a second window from a similarly selected position from said initial three dimensional image to form a window registration; and

utilizing said window registration to correlate said pseudo three dimensional image with said initial three dimensional image such that the location of said image referencing element is determined with respect to said initial three dimensional image.

22. A system according to claim 21, wherein said initial three dimensional image comprises at least one of a magnetic resonance image, a Computerized Tomography image, an ultrasound image or an image extracted from a CAD model.

23. A system according to claim 21, wherein said intraoperative images of the surgical site comprise C-arm X-ray images.

24. A system according to claim 21, wherein said correlating the pseudo three dimensional image with the initial three dimensional image comprises registering additional windows of said initial three dimensional image with additional windows of said pseudo three dimensional image.

25. A system according to claim 21, wherein said window registration is based on either matching of geometric features in said first window with geometric features in said second window, or matching of intensity features in said first window with intensity features in said second window.

26. A system for performing a surgical procedure at a surgical site, comprising:

a surgical robot for manipulating a tool to said surgical site, said robot having at least one of (a) known dimensions or (b) markers attached to it in predetermined locations;

an attachment member configured and dimensioned to attach the surgical robot to a bone associated with said surgical site;

and

a controller programmed to direct the robot to position the surgical tool at the surgical site,

wherein said controller is adapted to direct the system to perform the following steps of;

utilizing an initial three dimensional image of said surgical site to provide a surgical plan of said procedure;

correlating at least two intraoperative images of said surgical site including at least one of (a) said known dimensions of said robot or (b) said markers attached in predetermined locations to said robot, to form a pseudo three dimensional image including at least one of (a) said known dimensions of said robot or (b) said markers;

selecting a first window from said pseudo three dimensional image, said first window being selected from the region of said attachment member to include features associated with said bone, and registering said first window with a second window from a similarly selected position from said initial three dimensional image to form a window registration; and

utilizing said window registration to correlate said pseudo three dimensional image with said initial three dimensional image such that the location of said robot is determined with respect to said initial three dimensional image.

27. A system according to claim 26, wherein said initial three dimensional image comprises at least one of a magnetic resonance image, a Computerized Tomography image, an ultrasound image or an image extracted from a CAD model.

28. A system according to claim 26, wherein said intraoperative images of the surgical site comprise C-arm X-ray images.

29. A system according to claim 26, wherein said correlating the pseudo three dimensional image with the initial three dimensional image comprises registering additional windows of said initial three dimensional image with additional windows of said pseudo three dimensional image.

30. A system according to claim 26, wherein said window registration is based either on matching of geometric features in said first window with geometric features in said second window, or on matching of intensity features in said first window with intensity features in said second window.