Robotic device and systems for image-guided and robot-assisted surgery

Abstract

Provided herein are robotic systems, for example, MRI guided robots, for image-guided robot-assisted surgical procedures and methods for using the same to perform such surgical procedures on a patient. The robotic systems comprise a robotic manipulator device or global positioner, means for actuating the robotic manipulator or global positioner that is mechanically linked thereto and a computer having a memory, a processor and at least one network connection in electronic communication with the robotic system. The actuating means comprises at least one transmission line having a flexible component comprising a displaceable medium, a rigid component comprising rigid pistons or a combination through which actuation is transmitted to the robotic manipulator or global positioner. The computer tangibly stores in memory software modules comprising processor-executable instructions to provide interfaces between the robotic system, an imaging system and an operator and to control operation thereof.

Description

[0001] Cross References to Related Applications

[0002] This international application claims the benefit of priority under 35 U.S.C. §119(e) of U.S. Provisional Application No. 61 / 692,943 filed August 24, 2012, which application is now abandoned, which application is hereby incorporated in its entirety This article is for reference.

[0003] federal funding

[0004] This invention was made with government support under Grant No. CNS-0932272 awarded by the National Science Foundation. The government has certain rights in this invention. technical field

[0005] The present invention relates to the field of robots, robot assisted surgery and software for their operation. Specifically, the present invention provides a robotic system comprising robotic manipulators and actuators, as well as suitable software and hardware, including an MRI-compatible medical robotic platform for use in field, real-time imaging-guided diagnostics, surgery and minimally Invasive medical interve...

Examples

Embodiment Construction

[0053] As used herein, the term "a" when used in conjunction with the term "comprising" in the claims and / or specification may mean "one", but is also consistent with "one or more", "at least one" and "one or more than One" means. Some embodiments of the invention may comprise or consist essentially of one or more elements, method steps and / or methods of the invention. It is contemplated that any method or composition described herein can be implemented in accordance with any other method or composition described herein.

[0054] While the present disclosure supports the limitation that only means alternatives and "and / or", the term "or" used herein in the claims means unless it is expressly stated that only alternatives are indicated or that alternatives are mutually exclusive. "and / or".

[0055] As used herein, whether expressly stated or not, the term "about" refers to a numerical value, including, for example, whole numbers, fractions and percentages. The term "about"...

[0001] Cross References to Related Applications

[0002] This international application claims the benefit of priority under 35 U.S.C. §119(e) of U.S. Provisional Application No. 61 / 692,943 filed August 24, 2012, which application is now abandoned, which application is hereby incorporated in its entirety This article is for reference.

[0003] federal funding

[0004] This invention was made with government support under Grant No. CNS-0932272 awarded by the National Science Foundation. The government has certain rights in this invention. technical field

[0005] The present invention relates to the field of robots, robot assisted surgery and software for their operation. Specifically, the present invention provides a robotic system comprising robotic manipulators and actuators, as well as suitable software and hardware, including an MRI-compatible medical robotic platform for use in field, real-time imaging-guided diagnostics, surgery and minimally Invasive medical interve...

Examples

Embodiment Construction

[0053] As used herein, the term "a" when used in conjunction with the term "comprising" in the claims and / or specification may mean "one", but is also consistent with "one or more", "at least one" and "one or more than One" means. Some embodiments of the invention may comprise or consist essentially of one or more elements, method steps and / or methods of the invention. It is contemplated that any method or composition described herein can be implemented in accordance with any other method or composition described herein.

[0054] While the present disclosure supports the limitation that only means alternatives and "and / or", the term "or" used herein in the claims means unless it is expressly stated that only alternatives are indicated or that alternatives are mutually exclusive. "and / or".

[0055] As used herein, whether expressly stated or not, the term "about" refers to a numerical value, including, for example, whole numbers, fractions and percentages. The term "about"...

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