Robotic stereotactic system for mri-guided neurosurgery
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A technology of surgical robot and guiding part, which is applied in the field of medical robotics and can solve problems such as surgical accuracy in complex workflows
Active Publication Date: 2020-09-25
THE UNIVERSITY OF HONG KONG
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[0004]
Although the standard workflow for stereotaxic neurosurgery has been established for more than half a century, it remains challenging to perform due to its complex workflow and high demands on surgical accuracy
The average recording error of 2-3mm is almost intolerable
In general, there are no robotic systems for functional neurosurgery that integrate MR-safe actuation and MR-based tracking capable of performing stereotaxic manipulation within the MRI bore
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Embodiment 1
[0059] Example 1. A surgical robot for magnetic resonance imaging-guided intervention comprising:
[0060] Manipulators, including a cord-based upper actuator and a tendon-based lower actuator;
[0061] Mount the base, connected to the lower actuator;
[0062] a needle guide; and
[0063] a needle disposed within the needle guide;
[0064] Each of these actuators includes:
[0065] an outer shell, with openings to allow passage of tendon cords,
[0066] Two swivel unions, connected to the housing,
[0067] two upper arms, each connected to two swivel joints,
[0068] two forearms, respectively connected to the two upper arms at the proximal end of each forearm by a passive joint, and a passive ball joint, connecting the two forearms at the distal end of each forearm, wherein the needle guide is provided on the upper actuator and In the ball joint of the lower actuator, and where the mounting base has multiple screw holes for bone mounting.
Embodiment 2
[0069] Embodiment 2. The surgical robot of embodiment 1, further comprising a needle stop and / or a linear actuator disposed on the needle.
Embodiment 3
[0070] Embodiment 3. The surgical robot of any of embodiments 1-2, further comprising one or more MR-based trackers disposed on the needle guide.
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Abstract
A neurosurgical robotic system for bilateral stereotaxy that integrates intraoperative MRI guidance is provided. The robotic system can be implemented in regular diagnostic MRI facilities. Navigationfor bilateral brain targets can be performed independently and simultaneously. The robotic system includes a plurality of manipulators, a needle guide (31), a needle (12) disposed within the needle guide (31); and a mounting base (39) with a plurality of screw holes for bone mounting.
Description
technical field [0001] Embodiments of the invention relate to medical robots, in particular surgical robots for magnetic resonance imaging (MRI) guided interventions. Background technique [0002] Stereotaxy is a technique that can use an external coordinate system as a reference to localize surgical targets. Its use in functional neurosurgery is primarily aimed at the treatment of various movement disorders such as Parkinson's disease (PD) and dystonia, psychiatric disorders and epilepsy. PD alone is the second most common disease of the nervous system after Alzheimer's disease and is expected to affect 8.7 million people worldwide by 2030. [0003] Deep brain stimulation (DBS), a common stereotaxic procedure, is a surgical therapy that reduces the motor symptoms of PD and dystonia. Two long (eg 300mm) thin ones The DBS needle is individually guided by the stereotaxic frame and inserted into the patient's skull through a burr hole. A stimulating electrode embedded in...
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