Imaging platform to provide integrated navigation capabilities for surgical guidance

• US 8,781,630 B2
• Filed: 10/14/2009
• Issued: 07/15/2014
• Est. Priority Date: 10/14/2008
• Status: Active Grant

• Current Assignee: University of Florida Research Foundation, Incorporated (State University System of Florida)
• Original Assignee: University of Florida Research Foundation, Incorporated (State University System of Florida)
• Inventors: Banks, Scott Arthur, Bova, Frank J.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Bendidi, Rachid
• Application Number:
  US13/124,263
• Publication Number:
  US 20110276179A1
• Time in Patent Office: 1,735 Days
• Field of Search: 700/245, 700/264, 700/258, 700/259, 378/4, 378/57, 378/63, 378/65, 378/72, 378/98.8, 378/189, 378/197, 378/198, 378/205, 600/102, 600/407, 600/424, 600/423, 600/414, 600/427, 600/429, 600/587, 606/130, 382/128, 382/131
• US Class Current: 700/259
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• 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 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/4458 the source unit or the detector unit being attached to robotic arms
• CPC Class Codes: A61B 6/4476 related to motor-assisted motion of the source unit
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 6/587 Alignment of source unit to detector unit

Abstract

An imaging platform system that provides integrated navigation capabilities for surgical guidance. The system can include two robotic arm systems, one robotic arm system holding an imaging source, and the other holding an imaging sensor. These robotic arm systems are able to move and provide three-dimensional tomographic scans, static radiographic images, and dynamic fluoroscopic image sequences. A third robotic arm system can be included in the imaging platform system as a surgeon guided tool-holder to accurately implement an image-guided surgical plan. The robotic systems can manipulate imaging and surgical components into and out of the operative field as needed, enhancing the choreography between a surgical team and assistive technology. A handle can be included as part of a manual positioning control subsystem. The handle can be mounted to an imaging robotic system above and/or below an operating table, and also can be mounted to a tool-holding robotic system.

Claims

1. An imaging platform system comprising:

an imaging system, the imaging system further comprising a robotic imaging source and a robotic imaging sensor, the robotic imaging source comprising an X-ray source mounted to a first robotic arm, the robotic imaging sensor comprising a flat-panel X-ray image detector mounted to a second robotic arm;

a tool-holding system, the tool-holding system further comprising a robotic tool-holder with a third robotic arm; and

a control system coupled to the imaging system and the tool-holding system and configured to control motion of the first through third robotic arms, the control system further comprising a haptic interface and a control panel;

wherein the imaging system and the tool-holding system are integrated and are adapted to provide integrated navigational capabilities for surgical guidance,

one of the X-ray source and the X-ray image detector is configured for manual positioning by a user and has a first handle attached thereto,

the control system is further configured to monitor said manual positioning and to control the first and second robotic arms based thereon, and

the control system is configured to execute a scan trajectory automatically by controlling movement of the first and second robotic arms based on information from said manual positioning by the user.

2. The imaging platform system of claim 1, wherein one of the robotic imaging source and the robotic imaging sensor is adapted to be positioned below an operating table.

3. The imaging platform system of claim 1, wherein the robotic tool-holder of the tool-holding system is adapted to be positioned above an operating table.

4. The imaging platform system of claim 1, wherein the control system is configured to control the first and second robotic arms using a master-slave relationship such that a movement of said one of the X-ray source and the X-ray image detector yields a mirrored displacement of the other of the X-ray source and the X-ray image detector.

5. The imaging platform system of claim 1, wherein the control system haptic interface further comprises a second handle attached to the tool-holding system for manually controlling the tool-holding system.

6. The imaging platform system of claim 1, wherein the control system further comprises a force-torque feedback that restrains manual positioning by the user of the robotic imaging source or the robotic imaging sensor.

7. The imaging platform system of claim 1, wherein the system is adapted to hold a surgical tool and to restrain manual positioning by the user of the tool to a desired trajectory.

8. The imaging platform system of claim 1, wherein portions of the imaging system and the tool-holding system are adapted to move into and out of an operative field to enhance operative choreography.

9. The imaging platform system of claim 1, wherein the imaging system is adapted to provide 3D tomographic scans, static radiographic images, and dynamic fluoroscopic image sequences.

10. The imaging platform system of claim 1, wherein the imaging platform system is adapted to move in non-equatorial scanning trajectories.

13. The imaging platform system of claim 1, wherein:

said manual positioning by the user comprises designating a start point and an end point for a desired imaging scan, and

the control system is configured to calculate the scan trajectory for the desired image scan based on the designated start and end points and to control the first and second robotic arms to follow the calculated scan trajectory.

14. The imaging platform system of claim 1, wherein:

said manual positioning by the user comprises moving said one of the X-ray source and the X-ray image detector along a desired scan path, and

the control system is configured to store the scan path as the desired scan trajectory and to control the first and second robotic arms to subsequently follow the scan trajectory.

15. The imaging platform system of claim 1, wherein:

said manual positioning by the user comprises moving said one of the X-ray source and the X-ray image detector along a desired path, and

the control system is configured to provide feedback via the haptic interface that is indicative of an obstruction in a mirrored path of the other of the X-ray source and the X-ray image detector.

16. The imaging platform system of claim 1, wherein the control system is configured to record the manual positioning to define the scan trajectory for subsequent automatic movement of the first and second robotic arms during a desired radiographic scan.

17. The imaging platform system of claim 1, wherein the control system is configured to provide feedback to the tool holder during manual positioning thereof by a user, the feedback being indicative of a desired position for the tool.

11. A method of generating a scout view image for an image-guided surgical procedure, the method comprising:

(a) in a non-radiographic imaging mode, manually positioning one of an X-ray source and an X-ray sensor mounted on a first robotic arm so as to designate a beginning point of a desired anteroposterior (AP) radiograph, the other of the X-ray source and the X-ray sensor being mounted on a second robotic arm;

(b) in the non-radiographic imaging mode, manually positioning said one of the X-ray source and the X-ray sensor mounted on the first robotic arm so as to designate an ending point of the desired AP radiograph;

(c) receiving at a control system the designated beginning point and the designated end point;

(d) by the control system, calculating respective radiographic imaging paths for the X-ray source and the X-ray sensor;

(e) by the control system, controlling the first and second robotic arms to follow the calculated radiographic imaging paths from the designated beginning point to the designated end point while imaging using the X-ray source and the X-ray sensor;

(f) by the control system, generating a contiguous X-ray image scan based on signals from the X-ray sensor obtained during (e);

(g) by the control system, displaying the X-ray image scan on a computer screen;

(h) manually positioning a marker mounted on a third robotic arm to designate a spatial point; and

(i) by the control system, while controlling the third robotic arm to hold the marker in place at the spatial point, repeating (e) so as to generate a confirmatory radiograph.

18. The method of claim 11, further comprising, during one of the manual positionings of (a) and (b), by the control system, providing a haptic feedback response via the first robotic arm that is indicative of a blockage in a mirrored pathway of the second robotic arm.

12. A method of registering a tool for use with an image platform system, the image platform system including an X-ray source mounted on a first robotic arm and an X-ray sensor mounted on a second robotic arm, the image platform system further including a robotic tool-holder with a third robotic arm, the method comprising:

(a) fixing a sterile target at a location in a surgical field navigation reference frame of the image platform system, the sterile target including a small detent or recess for tool registration;

(b) registering the sterile target using optical, electromagnetic (EM), or robot probes;

(c) attaching the tool to the robotic tool-holder;

(d) moving the third robotic arm such that a tip of the attached tool is positioned within said small detent or recess of the sterile target;

(e) moving the attached tool in a conical arc;

(f) at a same time as the moving in (e), by a control system, recording the motion of the attached tool through the third robotic arm; and

(g) by the control system, calculating the tip of the attached tool with respect to the third robotic arm and the navigation reference frame based on the recorded motion.