Robotic guided endoscope

• US 9,125,556 B2
• Filed: 05/14/2013
• Issued: 09/08/2015
• Est. Priority Date: 05/14/2012
• Status: Active Grant

• Current Assignee: Mazor Robotics, Ltd (Medtronic Plc)
• Original Assignee: Mazor Robotics, Ltd (Medtronic Plc)
• Inventors: Zehavi, Eli, Shoham, Moshe
• Primary Examiner(s): ROZANSKI, MICHAEL T
• Application Number:
  US13/893,366
• Publication Number:
  US 20130303883A1
• Time in Patent Office: 847 Days
• Field of Search: 600/417, 600/424, 606/86.R, 606/130, 606/279
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00154 using guiding arrangements for insertion
• CPC Class Codes: A61B 2017/00261 Discectomy
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/30 Surgical robots
• 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 6/485 involving fluorescence X-ray imaging
• CPC Class Codes: A61B 6/487 involving fluoroscopy
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: G01R 33/285 Invasive instruments, e.g. catheters or biopsy needles, specially adapted for tracking, guiding or visualization by NMR

Abstract

Systems and methods for performing robotic endoscopic surgical procedures, according to a surgical plan prepared on a preoperative set of three dimensional images. The system comprises a surgical robot whose coordinate system is related to that of fluoroscope images generated intraoperatively, by using a three dimensional target having radio-opaque markers, attached in a predetermined manner to the robot or to another element to which the robot is attached, such as the spinal bridge or an attachment clamp. The robot is mounted directly or indirectly on a bone of the patient, thereby nullifying movement of the bone, or a bone tracking system may be utilized. The coordinate system of the intraoperative fluoroscope images may be related to the preoperative images, by comparing anatomical features between both image sets. This system and method enables the endoscope to be directed by the robot along the exact planned path, as determined by the surgeon.

Claims

1. A method of guiding an endoscope to an orthopedic surgical site, comprising:

generating preoperative images of the orthopedic surgical site, and determining a planned trajectory of the endoscope according to the preoperative images;

mounting a surgical robot such that it has a fixed location relative to the orthopedic surgical site;

attaching a three dimensional target to the robot or to an attaching structure providing the robot with its fixed location relative to the orthopedic surgical site;

generating at least two intraoperative fluoroscope images of the orthopedic surgical site, said at least two intraoperative fluoroscope images including at least a major part of said three dimensional target, such that the orientation of the target in the co-ordinate system of said fluoroscope images can be calculated from the three dimensional target;

from the position and orientation of the target, determining the position and orientation of the robot or of its attaching structure in the co-ordinate system of said fluoroscope images;

relating the fluoroscope image co-ordinate system to the preoperative images by comparison of anatomic features on said at least two intraoperative fluoroscope images, such that the planned trajectory is also defined in the co-ordinate system of the robot;

providing instructions to the robot to adopt a pose such that a guidance tube held in its operating arm is aligned along the planned trajectory;

preparing an incision along the planned trajectory using a scalpel inserted along said guidance tube and enlarging the incision to a size suitable to accommodate said endoscope;

using said robot pose to insert a guiding element along said planned trajectory, and removing said robot and any of its support structures; and

using said guiding element to insert the endoscope along the planned trajectory.

2. A method according to claim 1 wherein said preoperative images are any one of CT or MRI or Ultrasound images.

3. A method according to claim 1, wherein the robot is mounted directly on a bone of the orthopedic surgical site, using said attaching structure, and the three dimensional target is attached to the robot.

4. A method according to claim 3, wherein the attaching structure is a bone attachment clamp for clamping the robot directly to a bone in the orthopedic surgical site.

5. A method according to claim 3, wherein the attaching structure is a spinal bridge attached to a patient'"'"'s spine at at least one vertebra, and wherein the robot is mounted on the spinal bridge.

6. A method according to claim 1, wherein said attaching structure is attached to the orthopedic surgical site, and the intraoperative fluoroscope images are taken with the target mounted on the attaching structure, and the robot is attached to the structure in place of the target after generation of the intraoperative fluoroscope images.

7. A method according to claim 6, wherein the attaching structure is a bone attachment clamp for clamping the robot directly to a bone in the orthopedic surgical site.

8. A method according to claim 6, wherein the attaching structure is a spinal bridge attached to a patient'"'"'s spine at at least one vertebra, and wherein the robot is mounted on the spinal bridge.

9. A method according to claim 1, wherein the three dimensional target comprises a plurality of radio-opaque markers, arranged in a predetermined three dimensional pattern.

10. A method according to claim 1 wherein said guiding element is a K-wire.

11. A method according to claim 1 wherein said guiding element is an endoscope guide tube.