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Optical registration of a remote center of motion robot

A remote motion center and robot technology, applied in the field of minimally invasive procedures, can solve problems such as incorrect incision positions, missed patient target brain lesions, etc., and achieve the effect of low risk of human error

Inactive Publication Date: 2018-07-31
KONINKLJIJKE PHILIPS NV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Consequently, user error in registration and / or alignment may result in incorrect incision locations, and / or interventional tools missing target brain lesions within the patient's head

Method used

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  • Optical registration of a remote center of motion robot
  • Optical registration of a remote center of motion robot
  • Optical registration of a remote center of motion robot

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Experimental program
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Embodiment Construction

[0027] In order to facilitate understanding of the present disclosure, the following figure 1 The description of the invention teaches the basic inventive principle of using a robot-mounted laser pointer to register a remote center of motion ("RCM") robot to a patient image during a minimally invasive neurosurgical procedure. From this description, one of ordinary skill in the art will appreciate how to apply the inventive principles of the present disclosure to various optical end effectors to register RCM robots to images of a patient during any type of minimally invasive procedure.

[0028] refer to figure 1 The imaging phase of a minimally invasive biopsy utilizes an imaging controller 20, an imaging modality 22 (e.g., CT, MRI, or US imaging modality), and a communication path 23 between the imaging controller 20 and the imaging modality 22 (e.g., a or multiple) wired / wireless connections). Typically in operation, the image phase of a minimally invasive biopsy involves i...

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PUM

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Abstract

A robotic surgical system for a minimally invasive procedure involving a planned tool trajectory through a planned incision point into a patient. The robotic surgical system employs an optical end-effector (50) (e.g., a laser point or an endoscope), a RCM robot (40) (e.g., a concentric arc robot), and a robot controller (60). In operation, the robot controller (60) controls an optical pointing bythe RCM robot (40) of the optical end-effector (50) to one or more markers attached to the patient, and further controls an axial alignment by the RCM robot (40) of the optical end-effector (50) to the planned tool trajectory as illustrated within a volume image of the patient based on a registration of the remote center-of-motion to the planned incision point as illustrated within the volume image of the patient derived from the optical pointing.

Description

technical field [0001] The present disclosure relates generally to minimally invasive procedures, particularly minimally invasive neurosurgical procedures (eg, biopsies), that require insertion of an interventional tool into a patient through a specific incision point along a defined tool trajectory. The present disclosure more particularly relates to remote center of motion ("RCM") robotic registration to planned incision points into a patient for precise positioning and orientation of interventional tools along planned tool trajectories. . Background technique [0002] Image-guided brain biopsy allows surgeons to precisely target deeply located brain lesions in a minimally invasive manner. Specifically, the patient's head is fixed and registered to a preoperative imaging scan (eg, CT, MRI, US, etc.) using a tracking and positioning system (eg, optical, electromagnetic, mechanical, or a combination thereof). Typically, such registration is performed using markers placed o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/10A61B90/13A61B90/11A61B34/20A61B90/00A61B10/02
CPCA61B10/0233A61B2034/301A61B34/30A61B90/11A61B2090/3983A61B90/13A61B34/10A61B2034/107A61B2034/2059A61B2034/2065A61B2034/2068A61B2090/3966A61B2090/363
Inventor D·P·努南A·波波维奇
Owner KONINKLJIJKE PHILIPS NV