System and method for integrating a collaborative MR compatible robot with a low-field portable MRI system

Abstract

The system can include a magnetic resonance imaging (MRI) scanner and a surgical robot. The MRI scanner can include a permanent magnet array defining a dome to surround an imaging region or region of interest. The MRI scanner can be configured to generate images of the dome and an anatomical structure (e.g., a patient's head) positioned within the imaging region. The MRI scanner can include an opening for accessing the patient's head. The surgical robot can include a robotic arm. The surgical robot can be mounted to the MRI scanner. The surgical robot can be configured to pass through the opening to perform a surgical procedure on the patient.

Description

[Background technology]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority under 35 USC § 119(e) from U.S. Provisional Application No. 63 / 488,102, filed March 2, 2023, entitled "Method for Fusing a Collaborative MR-Compatible Robot with a Low-Field Portable MRI System," which is incorporated herein by reference in its entirety.

[0002] background This disclosure relates to magnetic resonance imaging (MRI), medical imaging, medical intervention, and surgical intervention. MRI systems often involve large, complex machines that generate very high magnetic fields and pose significant constraints on the feasibility of certain surgical interventions. Constraints can include limited physical access to the patient by surgeons and / or surgical robots, and / or restrictions on the use of certain electrical and mechanical components in the vicinity of the MRI scanner. Such limitations are inherent in the underlying designs of many existing systems and are difficult to overcome. Summary of the Invention [Means for solving the problem]

[0003] overview In one general aspect, the present disclosure describes a system including a magnetic resonance imaging (MRI) scanner and a surgical robot. The MRI scanner can include a permanent magnet array. The MRI scanner can define a dome configured to surround a patient's head or limb. For example, the MRI scanner can be configured to generate an image of a region of interest in the patient's head. The MRI scanner can include an opening for accessing the patient's head. The surgical robot can include a robotic arm. The surgical robot can be mounted to the MRI scanner. The surgical robot can be configured to pass through the opening to perform a surgical procedure on a portion of the patient positioned within the dome of the MRI scanner. [Brief explanation of the drawings]

[0004] BRIEF DESCRIPTION OF THE DRAWINGS The various aspects described herein, both as to organization and method of operation, together with further objects and advantages thereof, may best be understood by reference to the following description taken in conjunction with the accompanying drawings, in which:

[0005] [Figure 1] FIG. 1 illustrates components of an MRI scanning system according to at least one embodiment of the present disclosure, including a dome-shaped housing for a magnetic array, the dome-shaped housing enclosing a region of interest therein, and further illustrating the dome-shaped housing positioned to receive at least a portion of a patient's head lying on a table within the region of interest.

[0006] [Figure 1A] FIG. 1A depicts a patient's head positioned in the region of interest of the MRI scanning system of FIG.

[0007] [Figure 2] FIG. 2 is a perspective view of an alternative dome-shaped housing for a magnetic array for use in the MRI scanning system of FIG. 1 , with an access opening defined within the dome-shaped housing, in accordance with at least one embodiment of the present disclosure.

[0008] [Figure 3] FIG. 3 is a perspective view of an alternative dome-shaped housing for a magnetic array for use in the MRI scanning system of FIG. 1 , in accordance with at least one embodiment of the present disclosure, wherein an access opening and an adjustable gap are defined within the dome-shaped housing.

[0009] [Figure 4] FIG. 4 depicts a dome-shaped housing for use with an MRI scanning system having an access opening in the form of a centrally defined hole, according to at least one embodiment of the present disclosure.

[0010] [Figure 5]FIG. 5 is a cross-sectional view of the dome-shaped housing of FIG. 4 according to at least one embodiment of the present disclosure.

[0011] [Figure 6] FIG. 6 depicts a control schematic for an MRI system according to at least one embodiment of the present disclosure.

[0012] [Figure 7] FIG. 7 is a flowchart describing a method for obtaining imaging data from an MRI system, according to at least one embodiment of the present disclosure.

[0013] [Figure 8] FIG. 8 depicts an MRI scanning system and a robotic system according to at least one embodiment of the present disclosure.

[0014] [Figure 9] FIG. 9 is a perspective view of an MRI-guided surgical robotic system according to various embodiments of the present disclosure.

[0015] [Figure 10] FIG. 10 is a side view of an MRI-guided surgical robotic system according to various embodiments of the present disclosure.

[0016] [Figure 11] FIG. 11 is a side view of an MRI-guided surgical robotic system in proximity to a patient bed, according to various embodiments of the present disclosure.

[0017] [Figure 12] FIG. 12 is a cross-sectional view of an MRI-guided surgical robotic system according to various embodiments of the present disclosure.

[0018] [Figure 13] FIG. 13 is a side view of a portion of an MRI-guided surgical robotic system according to various aspects of the present disclosure.

[0019] [Figure 14]FIG. 14 is a perspective view of a fixation device operably coupled to a patient's head according to various aspects of the present disclosure.

[0020] [Figure 15] FIG. 15 is a perspective view of an MRI-guided surgical robotic system according to various embodiments of the present disclosure.

[0021] [Figure 16] FIG. 16 is a rear view of an MRI-guided surgical robotic system with a rotatable MRI scanner according to various embodiments of the present disclosure.

[0022] [Figure 17] FIG. 17 is a front view of a rotatable MRI scanner according to various aspects of the present disclosure.

[0023] [Figure 18] FIG. 18 is a rear view of an MRI-guided surgical robotic system with a rotatable MRI scanner according to various embodiments of the present disclosure.

[0024] [Figure 19] FIG. 19 is a rear view of an MRI-guided surgical robotic system with a rotatable MRI scanner according to various embodiments of the present disclosure.

[0025] [Figure 20] FIG. 20 is a rear view of a rotatable MRI scanner according to various aspects of the present disclosure.

[0026] [Figure 21] FIG. 21 is a side view of an MRI-guided surgical robotic system with a rotatable MRI scanner according to various embodiments of the present disclosure.

[0027] [Figure 22] FIG. 22 is a side view of an MRI-guided surgical robotic system having a surgical robot mounted on a cart, according to various aspects of the present disclosure.

[0028] [Figure 23] FIG. 23 is a perspective view of an MRI-guided surgical robotic system having a surgical robot mounted on a cart, according to various embodiments of the present disclosure.

[0029] [Figure 24] FIG. 24 is a side view of an MRI scanner with a guide for positioning a surgical robot, according to various embodiments of the present disclosure.

[0030] [Figure 25] FIG. 25 is a front view of an MRI scanner with a guide for positioning a surgical robot, according to various embodiments of the present disclosure.

[0031] [Figure 26] FIG. 26 is a cross-sectional view of an MRI scanner with a guide for positioning a surgical robot, according to various embodiments of the present disclosure.

[0032] [Figure 27] FIG. 27 is a perspective view of a segmentable MRI scanner according to various aspects of the present disclosure.

[0033] [Figure 28] FIG. 28 is a top view of a segmentable MRI scanner according to various embodiments of the present disclosure.

[0034] [Figure 29] FIG. 29 is a cross-sectional view of a segmentable MRI scanner according to various embodiments of the present disclosure.

[0035] [Figure 30] FIG. 30 is a cross-sectional view of a segmentable MRI scanner according to various aspects of the present disclosure.

[0036] [Figure 31] FIG. 31 is a perspective view of a segmentable MRI scanner according to various aspects of the present disclosure.

[0037] [Figure 32] FIG. 32 is a cross-sectional view of a portion of an MRI-guided surgical robotic system having a long-bore MRI scanner according to various embodiments of the present disclosure.

[0038] [Figure 33] FIG. 33 is a perspective view of an MRI-guided surgical robotic system having a long-bore MRI scanner according to various embodiments of the present disclosure.

[0039] [Figure 34] FIG. 34 is a perspective view of an MRI scanner having a guide for positioning a surgical robot, according to various embodiments of the present disclosure.

[0040] [Figure 35] FIG. 35 is a perspective view of an MRI scanner having a guide for positioning a surgical robot, according to various embodiments of the present disclosure.

[0041] [Figure 36] FIG. 36 is a cross-sectional view of an MRI scanner having a guide for positioning a surgical robot according to various embodiments of the present disclosure.

[0042] [Figure 37] FIG. 37 is a flowchart of a method for operating an MRI-guided surgical robotic system according to various aspects of the present disclosure.

[0043] Corresponding reference characters refer to corresponding parts throughout the several views. The examples set forth herein are illustrative of various disclosed embodiments and are in one form only, and such examples should not be construed as limiting the scope thereof in any way. DETAILED DESCRIPTION OF THE INVENTION

[0044] Detailed Description The applicant of the present application also owns the following patent applications, each of which is incorporated herein by reference in its respective entirety: -International Patent Application No. PCT / US2022 / 236308, entitled "NEURAL INTERVENTIONAL MAGNETIC RESONANCE IMAGING APPARATUS," filed on May 5, 2022, and published on November 10, 2022, as WO 2022 / 72143; -U.S. Patent Application No. 18 / 057,207, filed November 19, 2022, entitled "SYSTEM AND METHOD FOR REMOVING ELECTROMAGNETIC INTERFERENCE FROM LOW-FIELD MAGNETIC RESONANCE IMAGES"; -U.S. Patent Application No. 18 / 147,418, entitled "MODULARIZED MULTI-PURPOSE MAGNETIC RESONANCE PHANTOM," filed December 28, 2022; -U.S. Patent Application No. 18 / 147,542, filed December 28, 2022, entitled "INTRACRANIAL RADIO FREQUENCY COIL FOR INTRAOPERATIVE MAGNETIC RESONANCE IMAGING"; -U.S. Patent Application No. 18 / 147,556, filed December 28, 2022, entitled "DEEP LEARNING SUPER-RESOLUTION TRAINING FOR ULTRA LOW-FIELD MAGNETIC RESONANCE IMAGING"; -U.S. Patent Application No. 18 / 153,111, entitled "ACCELERATING MAGNETIC RESONANCE IMAGING USING PARALLEL IMAGING AND ITERATIVE IMAGE RECONSTRUCTION," filed January 11, 2023; and -U.S. Patent Application No. 18 / 153,175, filed January 11, 2023, entitled "FAST T2-WEIGHTED AND DIFFUSION-WEIGHTED CHIRPED-CPMG SEQUENCES."

[0045] Before describing various aspects of interventional magnetic resonance imaging systems and methods in detail, it should be noted that the illustrative examples are not limited in application or use to the details of construction and arrangement of parts illustrated in the accompanying drawings and the remainder of the specification. The illustrative examples may be implemented or incorporated in other aspects, variations, and modifications, and may be practiced or carried out in various ways. Furthermore, unless otherwise indicated, the terms and phrases used herein have been chosen for the purpose of describing the illustrative examples for the convenience of the reader, and not for purposes of limitation thereof. It will also be understood that one or more of the aspects, aspect expressions, and / or examples described below may be combined with any one or more of the other aspects, aspect expressions, and / or examples described below.

[0046] Various aspects relate to MRI devices that enable the integration of surgical intervention and guidance with neurointerventional magnetic resonance imaging (MRI). This includes allowing physical access to areas around the patient as well as access to the patient's head with one or more access openings. Furthermore, neurointerventional MRI devices can enable the use of robotic-guided tools and / or conventional surgical instruments. In various cases, neurointerventional MRI can be used intraoperatively to obtain scans of the patient's head and / or brain during a surgical intervention, such as a biopsy or a surgical procedure, such as a neurosurgical procedure. In other cases, interventional MRI can be used to image other limbs (e.g., the operculum or lower limbs) in connection with a robotic surgical procedure.

[0047] 1 depicts an MRI scanning system 100 including a dome-shaped housing 102 configured to receive a patient's head. The dome-shaped housing 102 may further include at least one access opening configured to allow access to the patient's head to enable neurointervention. The space within the dome-shaped housing 102 forms a region of interest for the MRI scanning system 100. Target tissue within the region of interest is subjected to magnetization fields / pulses, as further described herein, to obtain imaging data representative of the target tissue.

[0048] 1A , a patient can be positioned so that their head is positioned within a region of interest within the dome-shaped housing 102. The brain can be positioned entirely within the dome-shaped housing 102. In such cases, to facilitate intracranial intervention (e.g., neurosurgical procedures) in coordination with MR imaging, the dome-shaped housing 102 can include one or more openings that provide access to the brain. The openings can be spaced around the dome-shaped housing.

[0049] The MRI scanning system 100 may include an auxiliary cart (see, e.g., auxiliary cart 530 in FIG. 6 ) that houses certain conventional MRI electrical and electronic components, such as, for example, a computer, a programmable logic controller, a power distribution unit, and amplifiers. The MRI scanning system 100 may also include a magnet cart that holds the dome-shaped housing 102, gradient coils, and / or transmit coils, as described further herein. Additionally, the magnet cart may be attached to a receive coil in various instances. Referring primarily to FIG. 1 , the dome-shaped housing 102 may further include an RF transmit coil, a gradient coil 104 (depicted on its exterior), and a shim magnet 106 (depicted on its interior). Alternative configurations of the gradient coil 104 and / or shim magnet 106 are also contemplated. In various instances, the shim magnet 106 may be adjustably positioned in a shim tray within the dome-shaped housing 102, allowing a technician to granularly configure the magnetic flux density of the dome-shaped housing 102.

[0050] Various structural housings for receiving a patient's head and enabling neurointervention can be utilized with MRI scanning systems such as MRI scanning system 100. In one embodiment, MRI scanning system 100 can be equipped with an alternative housing such as dome-shaped housing 202 (FIG. 2) or a two-part housing 302 (FIG. 3) configured to form a dome shape. Dome-shaped housing 202 defines multiple access openings 203, and two-part housing 302 also defines multiple access openings 303 and further includes an adjustable gap 305 between the two parts of the housing.

[0051] In various instances, the housings 202 and 302 may include a bonding agent 308, such as an epoxy resin, that holds the plurality of magnetic elements 310 in place. The plurality of magnetic elements 310 may be bonded to a structural housing 312, such as a plastic substrate. In various aspects, the bonding agent 308 and the structural housing 312 may be non-conductive or diamagnetic materials. Referring primarily to FIG. 3 , the two-part housing 302 includes two structural housings 312. In various aspects, the structural housing for receiving the patient's head may be formed from three or more sub-parts. An access opening 303 in the structural housing 312 provides a direct passageway to the patient's head and is unobstructed by the structural housing 312, the bonding agent 308, or the magnetic elements 310. The access opening 303 may be positioned in an open space of the housing 302, for example.

[0052] There are many possible configurations of neurointerventional MRI devices that can achieve improved access for surgical intervention. Many configurations are built around two main designs, commonly known as Halbach cylinders and Halbach domes, as described in the following papers by Cooley et al. (e.g., Cooley, CZ, Haskell, MW, Cauley, SF, Sappo, C., Lapierre, CD, Ha, CG, Stockmann, JP, and Wald, LL (2018) "Design of sparse Halbach magnet arrays for portable MRI using a genetic algorithm." IEEE Transactions on Magnetics, 54(1), 5100112. The paper by Cooley et al., "Design of sparse Halbach magnet arrays for portable MRI using a genetic algorithm," published in IEEE Transactions on Magnetics, 54(1), 5100112, 2018, is incorporated herein by reference in its entirety.

[0053] In various instances, a dome-shaped housing for an MRI scanning system such as system 100 may include, for example, a Halbach dome that defines the dome shape and is configured based on several factors, including main magnetic field B strength, magnetic field size, magnetic field uniformity, device size, device weight, and patient access for neurointervention. In various embodiments, the Halbach dome includes an outer radius and an inner radius at the base of the dome. The Halbach dome may include an elongated cylindrical portion extending from the base of the dome. In one embodiment, the elongated cylindrical portion includes the same outer and inner radii as the base of the dome and continues from the base of the dome for a predetermined length at a constant radius. In another embodiment, the elongated cylindrical portion includes outer and inner radii that are different from the base of the dome (see, e.g., FIGS. 2 and 3). In such instances, the different outer and inner radii of the elongated cylindrical portion may merge with the base radius in a transition region.

[0054] 4 illustrates an exemplary Halbach dome 400 for an MRI scanning system, such as system 100, defining an access opening, e.g., in the form of a hole or access opening 403, configured to receive a head and brain B of a patient P within a region of interest therein, the access opening 403 configured to allow access to the patient P for neurointervention with medical instruments and / or robotically controlled surgical tools, according to at least one embodiment of the present disclosure. The Halbach dome 400 can be constructed with a single access opening 403 on a top surface 418 of the dome 400, allowing access to the top of the skull while minimizing impact with the magnetic field. Additionally or alternatively, the dome 300 can be configured with multiple access openings around the structure 416 of the dome 400, as shown in FIGS. 2 and 3 .

[0055] Diameter D of access opening 403 hole can be small (e.g., about 2.54 cm) or very large (substantially the outer diameter r of the dome 400). ext) As the access opening 403 becomes larger, the dome 400 begins to resemble, for example, a Halbach cylinder. The access opening 403 is not limited to being at the apex of the dome 400. The access opening 403 may be located anywhere on the surface or structure 416 of the dome 400. In various instances, the entire dome 400 may be rotated so that the access opening 403 is located at the same physical location as the desired location on the patient P.

[0056] FIG. 5 shows the diameter D of the access opening 403. hole , the length L of the dome 400, and the outer radius r of the dome 400 ext and inner radius r in The Halbach dome 400 includes a plurality of magnetic elements arranged in a Halbach array and comprising a magnet assembly. The plurality of magnetic elements are arranged within the structure 416 or its housing at an outer radius r ext and inner radius r in In one embodiment, exemplary dimensions are r in = 19.3 cm, and r ext =23.6cm, L=38.7cm, 2.54cm≦D<19.3cm.

[0057] Based on the above exemplary dimensions, the Halbach dome 400 with access opening 403 may be configured with a magnetic flux density B of approximately 72 mT and an overall mass of approximately 35 kg. It will be appreciated that dimensions may be selected based on the particular application to achieve the desired magnetic flux density B, total weight of the Halbach dome 400 and / or magnet cart, and geometry of the neuro-interventional access opening 403.

[0058] In various aspects, the Halbach dome 400 may be configured to define a plurality of access openings 403 positioned around the structure 416 of the dome 400. These plurality of access openings 403 may be configured to allow access to the patient's head and brain B using tools (e.g., surgical tools) and / or a surgical robot.

[0059] In various embodiments, the access opening 403 can be adjustable. An adjustable configuration can be achieved, for example, by adjusting the diameter D of the access opening 403. hole The ability to adjust the access opening 403 using either a motor, mechanical assistance, or a manual system with a mechanical iris configuration to adjust the access opening 403 can be provided. This allows for configuring the dome without the access opening 403, performing an imaging scan, and then adjusting the dome 400 and its mechanical iris configuration to include the access opening 403, thus allowing surgical intervention.

[0060] Halbach domes and their magnetic arrangements for facilitating neurointervention are further described in International Patent Application No. PCT / US2022 / 72143, filed May 5, 2022, entitled "NEURAL INTERVENTIONAL MAGNETIC RESONANCE IMAGING APPARATUS," which is incorporated herein by reference in its entirety.

[0061] Referring now to FIG. 6, a schematic diagram of an MRI system 500 is shown. For example, the MRI scanning system 100 (FIG. 1) and various dome-shaped housings and their magnetic arrangements described further herein may be incorporated into the MRI system 500. The MRI system 500 includes a housing 502 that may be similar in many aspects to the dome-shaped housings 102 (FIG. 1), 202 (FIG. 2), and / or 302 (FIG. 3), for example. The housing 502 is dome-shaped and configured to form a region of interest or field of view 552 therein. For example, the housing 502 may be configured to receive a patient's head in various aspects of the present disclosure.

[0062] The housing 502 includes a magnet assembly 548 having a plurality of magnets (e.g., a Halbach array of magnets) disposed therein. In various embodiments, the main magnetic field B generated by the magnet assembly 548 extends within a field of view 552 that includes an object (e.g., a patient's head) being imaged by the MRI system 500.

[0063] The MRI system 500 also includes an RF transmit / receive coil 550. The RF transmit / receive coil 550 may be combined into an integrated transmit / receive (Tx / Rx) coil. In other cases, the RF transmit coil may be separate from the RF receive coil. For example, to obtain imaging data, the RF transmit coil may be incorporated into the housing 502 and the RF receive coil may be positioned within the housing 502.

[0064] The housing 502 also includes one or more gradient coils 504 configured to generate gradient magnetic fields to facilitate imaging of objects within a field of view 552 generated by a magnet assembly 548, for example, surrounded by a dome-shaped housing and a dome-shaped array of magnetic elements therein. A shim tray adapted to receive shim magnets 506 may be incorporated into the housing 502.

[0065] During the imaging process, a main magnetic field B0 extends within the field of view 552. The direction of the effective magnetic field (B1) changes in response to RF pulses and associated electromagnetic fields transmitted by the RF transmit / receive coil 550. For example, the RF transmit / receive coil 550 may be configured to selectively transmit RF signals or pulses to objects within the field of view 552, such as tissue in the patient's brain. These RF pulses may change the effective magnetic field experienced by spins within the sample tissue.

[0066] The housing 502 is in signal communication with an auxiliary cart 530 configured to provide power to the housing 502 and send / receive control signals to / from the housing 502. The auxiliary cart 530 includes a power distribution unit 532, a computer 542, a spectrometer 544, a transmit / receive switch 545, an RF amplifier 546, and a gradient amplifier 558. In various instances, the housing 502 can be in signal communication with multiple auxiliary carts, each of which can support one or more of the power distribution unit 532, the computer 542, the spectrometer 544, the transmit / receive switch 545, the RF amplifier 546, and / or the gradient amplifier 558.

[0067] The computer 542 is in signal communication with the spectrometer 544 and is configured to send and receive signals between the computer 542 and the spectrometer 544. When an object within the field of view 552 is excited with RF pulses from the RF transmit / receive coil 550, the precession of the object results in an induced current, i.e., an MR current, which is detected by the RF transmit / receive coil 550 and sent to an RF amplifier 546. The RF amplifier 546 is configured to boost or amplify the excitation data signals and send them to the spectrometer 544. The spectrometer 544 is configured to send the excitation data to the computer 542 for storage, analysis, and image construction. The computer 542 is configured, for example, to combine multiple stored excitation data signals to create an image. In various instances, the computer 542 is in signal communication with at least one database 562 that stores a reconstruction algorithm 564 and / or a pulse sequence 566. The computer 542 is configured to utilize the reconstruction algorithm to generate an MR image 568.

[0068] From the spectrometer 544, the signals may also be relayed to an RF transmit / receive coil 550 within the housing 502 via an RF power amplifier 546 and a transmit / receive switch 545 positioned between the spectrometer 544 and the RF power amplifier 546. From the spectrometer 544, the signals may also be relayed to a gradient coil 504 within the housing 502 via a gradient power amplifier 558. For example, the RF power amplifier 546 is configured to amplify and send the signal to the RF transmit coil 550, and the gradient power amplifier 558 is configured to amplify and send the gradient coil signal to the gradient coil 504.

[0069] In various cases, the MRI system 500 can include a noise cancellation coil 554. For example, the auxiliary cart 530 and / or the computer 542 can be in signal communication with the noise cancellation coil 554. In other cases, the noise cancellation coil 554 can be optional. For example, certain MRI systems disclosed herein may not include additional / auxiliary RF coils for detecting and canceling electromagnetic interference, i.e., noise.

[0070] A flowchart depicting a process 570 for obtaining an MRI image is shown in FIG. 7 . This flowchart may be implemented, for example, by the MRI system 500. In various instances, in block 572, a target object (e.g., a portion of a patient's anatomy) is positioned in a main magnetic field B0 within a region of interest (e.g., region of interest 552), such as within a dome-shaped housing (e.g., magnet assembly 548) of various MRI scanners described further herein. The main magnetic field B0 is configured to magnetically polarize hydrogen protons (H-protons) in the target object (e.g., all organs and tissues), known as net longitudinal magnetization M0. This is proportional to the tissue's proton density (PD) and increases exponentially in time with a time constant known as the tissue's longitudinal relaxation time, T1. The T1 value of individual tissues depends on many factors, including, for example, their microstructure, water and / or lipid content, and the strength of the polarizing magnetic field. For these reasons, the T1 value of a given tissue sample depends on its age and health.

[0071] In block 574, a time-varying oscillating magnetic field B1, i.e., an excitation pulse, is applied to the magnetically polarized target object using an RF coil (e.g., RF transmit / receive coil 550). The carrier frequency of the pulsed B1 field is set to the resonant frequency of the 1H-protons, which causes the longitudinal magnetization to flip and rotate from its equilibrium longitudinal direction, resulting in a magnetization vector that can generally have transverse and longitudinal magnetization components, depending on the flip angle used. Common B1 pulses include inversion pulses, or 180-degree pulses, and 90-degree pulses. The 180-degree pulse reverses the direction of the 1H-proton magnetization in the longitudinal axis. The 90-degree pulse rotates the 1H-proton magnetization by 90 degrees so that the magnetization is in the transverse plane. The MR signal is a time-varying current proportional to the transverse component of the magnetization and is detected with an appropriate RF coil. These MR signals decay exponentially in time with a time constant known as the transverse relaxation time, T2, which also depends on, for example, the fine tissue structure, water / lipid content, and the strength of the magnetic field used.

[0072] In block 576, the MR signals are spatially encoded by exposing the target object to additional magnetic fields, known as gradient fields, generated by gradient coils (e.g., gradient coil 504). The gradient magnetic fields, which vary linearly in space, are applied for short periods in pulsed form and with spatial variations in each direction. The net result is the generation of multiple spatially encoded MR signals, which are detected in block 577 and can be reconstructed to form an MR image depicting a slice of the object. An RF receive coil (e.g., RF transmit / receive coil 550) can be configured to detect the spatially encoded RF signals. The slice may be oriented in the transverse, sagittal, coronal, or any oblique plane.

[0073] In block 578, the spatially encoded signals for each slice of the scanned region are digitized and mathematically spatially decoded by a computer reconstruction program (e.g., by computer 542) to generate an image depicting the internal anatomical structures of the subject. In various instances, the reconstruction program may utilize an (inverse) Fourier transform to convert the spatially encoded data (k-space data) back into geometrically decoded data.

[0074] FIG. 8 depicts a schematic illustration of a robotic system 680 that may be used for neurointervention via an MRI scanning system 600. The robotic system 680 includes a computer system 696 and a surgical robot 682. The MRI scanning system 600 may be similar to the MRI system 500 and may include a dome-shaped housing and a magnetic array with access openings, as described further herein. For example, the MRI system 500 may include one or more access openings defined in a Halbach array of magnets in a permanent magnet assembly to provide access to one or more anatomical portions of a patient to be imaged during a medical procedure. In various cases, the robotic arm and / or tool of the surgical robot 682 is configured to extend through the access openings in the permanent magnet assembly to reach the patient or target site. Each access opening may provide access to the patient and / or surgical site. For example, in the case of multiple access openings, the multiple access openings may allow access from different directions and / or proximal locations.

[0075] According to various embodiments, the robotic system 680 is configured to be located outside the MRI system 600. As shown in FIG. 8 , the robotic system 680 can include a robotic arm 684 configured to move with one or more degrees of freedom. According to various embodiments, the robotic arm 684 includes one or more mechanical arm segments including a hollow shaft 686 and an end effector 688. The hollow shaft 686 and the end effector 688 are configured to move, rotate, and / or pivot through various ranges of motion via one or more motion controllers 690. The double-headed curved arrows in FIG. 8 indicate exemplary rotational movements generated by the motion controller 690 at various joints of the robotic arm 684.

[0076] According to various embodiments, the robotic arm 684 of the robotic system 682 is configured to access various subject anatomical portions through or around the MRI scanning system 600. According to various embodiments, the access opening is designed to take into account the size of the robotic arm 684. For example, the access opening defines a circumference configured to allow the robotic arm 684, hollow shaft 686, and end effector 688 to pass therethrough. In various cases, the robotic arm 684 is configured to access various patient anatomical portions from around the side of the magnetic imaging device 600. The hollow shaft 686 and / or end effector 688 may be adapted to accept a robotic tool 692, such as a biopsy needle having a cutting tip 694, for example, for obtaining a biopsy sample from the patient.

[0077] The reader will understand that the robotic system 682 can be used in combination with various dome-shaped and / or cylindrical magnetic housings, as further described herein. Moreover, the robotic system 682 and robotic tool 692 of FIG. 8 are exemplary. Alternative robotic systems can be utilized in conjunction with the various MRI systems disclosed herein. Furthermore, handheld surgical instruments and / or additional imaging devices (e.g., endoscopes) and / or systems can also be utilized in conjunction with the various MRI systems disclosed herein.

[0078] In various aspects of the present disclosure, the MRI systems described herein can include low-field MRI (LF-MRI) systems. In such cases, the main magnetic field B generated by the permanent magnet assembly can be less than 1.0 T, such as between 0.1 T and 1.0 T. In other cases, the MRI systems described herein can include ultra-low-field MRI (ULF-MRI) systems. In such cases, the main magnetic field B generated by the permanent magnet assembly can be between 0.03 T and 0.1 T, for example.

[0079] Higher magnetic fields, such as those exceeding 1.0 T, can prevent the use of certain electrical and mechanical components near MRI scanners. For example, the presence of surgical instruments and / or surgical robot components containing metals, particularly ferrous metals, can be dangerous near higher magnetic fields because such tools may be attracted toward the magnetized source. Furthermore, higher magnetic fields often require specially designed rooms with additional precautions and shielding to limit magnetic interference. Despite the limitations of high-field MRI systems, low-field and ultra-low-field MRI systems present various challenges for obtaining high-quality images with sufficient resolution to achieve desired imaging objectives.

[0080] LF- and ULF-MRI systems generally provide relatively poor total magnetic field homogeneity compared to higher field MRI systems. For example, as further described herein, a dome-shaped housing for a magnet array can, in various embodiments of the present disclosure, include a Halbach array of permanent magnets that generates a magnetic field B0 having a homogeneity of 1,000 ppm to 10,000 ppm within a region of interest.

[0081] MRI-GUIDED SURGICAL ROBOTIC DEVICES, SYSTEMS, AND METHODS Having described various MRI and robotic device, system, and method aspects, such as MRI scanning system 100 ( FIG. 1 ), housing 202 ( FIG. 2 ), housing 302 ( FIG. 3 ), Halbach dome 400 ( FIG. 4 ), MRI system 500 ( FIG. 6 ), process 570 ( FIG. 7 ), and robotic system 680 ( FIG. 8 ), the present disclosure now moves on to describing various cooperating MRI systems and robotic platforms (e.g., robotic devices, systems, and methods). Any aspect of the various MRI and robotic devices, systems, and methods described above may be included in or otherwise applied with the various cooperating MRI systems and robotic platforms described below. Similarly, any aspect of the MRI and robotic devices, systems, and methods described below may be included in or otherwise applied with the robotic platforms and MRI systems described above.

[0082] Conventional MRI scanners are typically applied as tools for noninvasive diagnosis and intervention. For example, MRI scanners are applied to imaging sensitive organs and tissues, such as the brain. However, the infrastructure requirements of conventional MRI scanners generally make them expensive and immobile, thereby potentially limiting their deployment and accessibility. For example, conventional MRI scanners often use cryogenically cooled electromagnets with magnetic field strengths of 1T to 3T. Furthermore, conventional MRI scanners often require specialized location requirements for power, cooling, and magnetic and RF shielding. Therefore, conventional MRI scanners are typically permanently installed, require multiple dedicated rooms, and are typically expensive. Furthermore, the magnetic field strengths of 1T to 3T often generated by conventional MRI scanners can cause complications for some surgical applications.

[0083] Therefore, many clinical applications can benefit from portable, low-cost, and / or low-field MRI scanners. Furthermore, minimally invasive surgery (MIS) can benefit from intraoperative MRI imaging and surgical guidance using, for example, portable, low-cost, and / or low-field MRI scanners. Furthermore, MIS can benefit from combining surgical robots with portable, low-cost, and / or low-field MRI scanners.

[0084] However, portable, low-cost, and / or low-field MRI scanners can have limitations regarding magnetic field strength, uniformity, and / or small bore diameter, which can significantly degrade imaging quality and limit clinical applications. For example, some existing low-field MRI scanners use permanent magnetic arrays (PMAs) to reduce power and space requirements, lower costs, and increase portability. PMA designs can use H-shaped or C-shaped magnets. Typical PMA designs often lack the magnet strength to generate an imageable magnetic field of 55–70 mT when combined with MRI scanners with bore diameters large enough for surgical applications. For example, typical PMA designs may require the magnet to be placed closer to the patient to produce the desired strength, which constrains the bore diameter and thereby makes the use of surgical modalities requiring draping, such as immobilization devices, intubation, and cranial fixation, impossible or difficult.

[0085] Thus, many existing conventional MRI scanners and low-field MRI devices have limited or no use in connection with surgical or intraoperative guidance applications, such as during robotic surgical procedures. Thus, there is a need for portable, low-cost, and / or low-field MRI scanners that can be used for surgical or intraoperative guidance applications. Furthermore, there is a need for portable, low-cost, and / or low-field MRI scanners that can be used in conjunction with surgical robots.

[0086] According to various aspects, the present disclosure provides MRI-guided surgical robotic devices, systems, and related methods. In some aspects, the MRI-guided surgical robotic system can include an MRI scanner. The MRI scanner can include a magnet array (e.g., a B0 magnet array). The magnet array can be dome-shaped (e.g., a Halbach array, a modified Halbach array, etc.). The magnet array can be optimized for the shape of the patient's head (e.g., a head-optimized Halbach dome) and / or the patient's extremities while maximizing the resulting magnetic field strength. The magnet array can generate a magnetic field with a high magnetic flux density in a region of interest (ROI).

[0087] In one aspect, the magnet array can include a modified Halbach array that can be configured to generate a magnetic field B that is axially aligned with the bore axis of the array (e.g., in a head-to-toe direction of a patient in a neurosurgical procedure).

[0088] The magnet array can have a bore diameter that can be made sufficiently wide for compatibility with standard clinical modalities often required for surgical interventions, such as cranial fixation and an operating table, due to the optimization of the magnet array and the resulting high magnetic field strength.

[0089] In one aspect, an MRI-guided surgical robotic system can include a surgical robot, which can include an end effector, and which can be mounted or otherwise attached to an MRI scanner.

[0090] In one embodiment, the MRI scanner can have one or more openings for surgical access to the patient's head and / or the patient's extremities by a clinician and / or a surgical robot. In one embodiment, the openings can be slots.

[0091] In one aspect, the MRI scanner can be configured to rotate (e.g., roll) about the bore axis of the magnet array. The bore axis can be aligned with the head-to-toe axis of the patient's body. For example, the dome-shaped housing of the MRI scanner, in various aspects of the present disclosure, is configured to roll about a longitudinal axis aligned with the patient's body. Rotation of the MRI scanner can be enabled by the dome shape of the magnet array. For example, the rim of the dome can include gearing or annular rails for rotatably supporting the dome relative to a wheeled cart of the MRI system. Rotation of the MRI scanner can position slots and / or other openings on the MRI scanner at desired longitudinal coordinates (e.g., the patient's longitudinal coordinates aligned with a designated lesion, entry point, or planned target). Positioning the slots and / or other openings by rotation of the MRI scanner can enable surgically relevant access.

[0092] For example, the end effectors of a surgical robot and / or other surgical tools can enter an MRI region of interest (ROI) through slots and / or other openings. As another example, the end effectors of a surgical robot and / or other surgical tools can pass through slots and / or other openings to access a target limb or tissue (e.g., an entry point or fiducial marker on the skull) during alignment, verification, and surgical procedures. As another example, the slots and / or other openings can provide visual access to the surgeon. As yet another example, in aspects in which an MRI scanner includes slots, the slot design can allow access to any coordinate on the patient's hemisphere by coordinating the rotation of the MRI scanner with the longitudinal coordinate. The slots and / or other openings in the MRI scanner can be configured to allow, for example, access to the patient's skull by a surgical robot.

[0093] In one aspect, the surgical robot can include and / or be attached to an adjustable arm (e.g., anthropomorphic or parallel).

[0094] In one embodiment, the MRI scanner can include an arc sliding guide for positioning the surgical robot.

[0095] In one embodiment, the arm (e.g., an adjustable arm) can be attached to and / or rotate with the MRI frame, hi another embodiment, the arm can be mounted on a cart (e.g., independent of MRI orientation).

[0096] In one aspect, the MRI scanner and / or magnet array can define a non-spherical dome. For example, the MRI scanner and / or magnet array can define a radially elongated dome (e.g., shorter (top to bottom) and wider (side to side) than a conventional dome shape). As another example, the radius of the opening of the dome can be larger than the radius along the bore axis of the dome.

[0097] In one embodiment, the MRI-guided surgical robotic system MRI can be configured to generate MRI images for real-time guidance of the surgical robot. In another embodiment, the MRI-guided surgical robotic system MRI can be configured to provide diagnostic imaging.

[0098] In one aspect, the MRI-guided surgical robotic system can include a portable cart. The MRI scanner and / or surgical robot can be mounted on or otherwise positioned on the portable cart. The cart can include integrated electronics and / or control modules for operating and / or controlling the MRI scanner and / or surgical robot. The portable cart can be small and lightweight enough to meet clinical sizing standards and / or requirements. The portable cart can be sized to be transported to the patient (e.g., on a patient platform, positioned adjacent to the patient bed) in an emergency room, surgical suite, or other clinical setting. The portable cart can include a set of passive or active quick setup / release wheels and brakes to enable the system to be moved onto or off the patient's bed within a very short period of time. This can provide the advantage of allowing the portable cart to be quickly and easily removed from the patient, providing easy access for the surgeon in any type of emergency. In some aspects, the wheels are omnidirectional, allowing for easier movement and guidance of the portable cart.

[0099] In one aspect, the MRI-guided surgical robotic system does not require special power, cooling, or permanent on-site infrastructure.

[0100] The devices, systems, and methods provided herein can provide various advantages, for example, the devices, systems, and methods provided herein can be used to generate acceptable MR imaging quality for intraoperative guidance of single- or multi-port robots used in robotic-assisted surgery.

[0101] As another example, the devices, systems, and methods provided herein can provide a portable MRI modality that does not require special shielding or on-site infrastructure for power or cooling.

[0102] As yet another example, the devices, systems, and methods provided herein may utilize a dome-shaped scanner with internal dimensions optimized for surgical interventions, such as those using immobilization devices, intubation, drapes, and / or patient positioning within the scanner.

[0103] As yet another example, the devices, systems, and methods provided herein may be compatible with existing surgical tables.

[0104] As yet another example, the devices, systems, and methods provided herein can enable surgically relevant access to a patient's extremities, such as the cranial hemispheres, hands, or feet, through an opening in the MRI structure with minimal degradation in imaging quality. In at least one embodiment, the opening is subtracted from the MRI main magnet PMA.

[0105] As yet another example, the devices, systems, and methods provided herein may enable full integration of MR-compatible surgical robots during image-guided procedures.

[0106] As yet another example, the devices, systems, and methods provided herein can enable surgically relevant access to desired coordinates of a patient's extremities by rotating the MRI and pre-adjusting the coarse and fine robotic movements.

[0107] As yet another example, the devices, systems, and methods provided herein can enable improved (e.g., faster) surgical high-speed workflow and improved surgical outcomes compared to existing devices, systems, and methods.

[0108] As yet another example, the dimensions of the MRI scanner and / or magnet array, such as a relatively large bore diameter and a large patient opening with a short depth, may enable the MRI scanner to be used with immobilization devices and / or existing operating tables.

[0109] 9-21 illustrate an MRI-guided surgical robot system 701 according to at least one embodiment of the present disclosure. The MRI-guided surgical robot system 701 may be referred to herein as system 701. Referring primarily to FIG. 9, the system 701 includes a portable, low-field MRI scanner 700 (e.g., MRI scanner 100 with Halbach dome 400), an image-guided MR-compatible robot 734 (surgical robot 734), and a cart 710. The surgical robot 734 is positionable by an adjustable arm 716 mounted (or otherwise attached) to the MRI scanner 700, which is supported by the cart 710. The surgical robot 734 is an MR-compatible robot. In at least one embodiment, the arm 716 has at least two positional degrees of freedom (DOF) and at least two DOFs of force feedback. At least two DOFs allow the arm 716 to reach and position the surgical robot 734 through an opening in the dome-shaped housing of the MRI scanner 700, as described in more detail with respect to FIGS. 12-14 . For example, the arm 716 and surgical robot 734 may be positioned inside or outside the opening in the dome-shaped housing of the MRI scanner 700. The dome-shaped housing of the MRI scanner 700 comprises walls that form a dome and house the array of permanent magnets (as well as additional components of the MRI scanner / scanning system) therein. The dome-shaped shape is described further herein. The walls extend to a rim that forms the boundary of the dome. A portion of the patient's anatomy may extend through the open end of the dome, i.e., beyond the rim. For example, the patient's torso and / or neck may extend beyond the rim into the imaging region defined within the dome-shaped housing. At least a portion of the wall comprises a curved wall that forms a closed end of the dome opposite the rim / open end of the dome. The rim and rimmed opening are separate from an access opening or aperture defined through the housing. The access openings may be defined through the walls, and in various cases through the solid curved walls of the dome-shaped housing. Various access opening geometries and configurations are further described herein.

[0110] 9 depicts system 701 positioned adjacent to patient table 750. Patient table 750 is shown supporting a patient 740. In at least one embodiment, cart 710 may be releasably attached (e.g., may be attached and detached) from patient table 750.

[0111] 10 and 11 , the patient table 750 may include an extendable support 752 (e.g., a telescoping support) configured to adjust the height of the patient table 750. Adjusting the height of the patient table 750 allows the position of the head 742 of the patient 740 relative to the MRI scanner 700 to be adjusted. The cart 710 carrying the MRI scanner 700, arm 716, and surgical robot 734 may be positioned relative to (e.g., adjacent to) the patient table 750 so that the MRI scanner 700 surrounds the head 742 of the patient 740 such that the patient's skull is positioned within the region of interest of the MRI scanner 700. As depicted in FIG. 11 , positioning the MRI scanner 700 relative to the patient table 740 allows for efficient use of the magnetic flux generated by the MRI scanner 700, thereby positioning the MRI scanner 700 for optimal imaging of the head 742 of the patient 740. The cart 710 may include a quick setup / release wheel 712 operably coupled to the cart 710. In at least one aspect, the wheels 712 can be locked to hold the MRI scanner 700 in place relative to the patient table 750. In additional or alternative aspects, the cart 710 can be attached to the patient table 750. The wheels 712 can provide flexibility for quickly moving the cart toward or away from the patient table 750. In some aspects, the wheels 712 are omnidirectional. In alternative aspects, the wheels 712 are configured to move in only one direction. In various instances, as the cart 710 moves toward the table 750, the MRI scanner 700 and robot 734 are moved as a unit toward the table 750 and a patient positioned thereon.

[0112] 11 illustrates an MRI scanner 700 in use with a patient table 750. Patient table 750 is one example of a patient table that can be used with MRI scanner 700. There are multiple patient tables that can be used with MRI scanner 700, and patient table 750 is one non-limiting example.

[0113] 12-14 , the MRI scanner 700 can include an opening 702. The opening 702 can include any suitable shape, such as, for example, a circular hole or a substantially rectangular slot. By controlling the arm 716 (e.g., by actuating joints / DOFs and positioning a first portion 724 and a second portion 728 of the arm 716), a surgical robot 734 can move within the opening 702. The opening 702 can include space suitable for pre-adjusting the surgical robot 734 and / or for surgical staff to perform manual procedures. The arm 716 can be configured to provide coarse yet smooth movement of the surgical robot 734. For example, the surgical robot 734 can be secured to the arm 716 by passive and / or active joints on the arm 716, including, but not limited to, a shoulder joint 722, an elbow joint 726, and / or a wrist joint 730. Each joint of the arm 716 can include a motor that can be controlled to rotate the joint and move the arm 716 to position the surgical robot 734.

[0114] The arm 716 can include a base stand 720, which can include any type of fastener or actuator. For example, the base stand 720 can include a base joint 718 for locking or otherwise coupling a shoulder joint 722 to the base stand 720. A collar 732 can secure or otherwise couple a robot 734 to the arm 716.

[0115] In some embodiments, the base stand 720 is fixedly attached to the housing of the MRI scanner 700. In some alternative embodiments, the base stand 720 can move along guides that are attached to the housing of the MRI scanner 700, as described with respect to Figures 25 and 26. The guides can allow the base stand 720 to move relative to the housing of the MRI scanner 700. By moving along the guides, the arm 716 and the entire surgical robot 734 can move relative to the housing of the MRI scanner 700.

[0116] In some embodiments, an MR compatible head immobilization device 754 can be included on the patient table 750 to hold the head 742 in place during surgery. Accordingly, the opening of the MRI scanner 700 is sized to allow the head immobilization device 754 to fit inside the MRI scanner 700.

[0117] 15-18 , the aperture 702 is configured as a slot. The MRI scanner 700 can be rotated about an axis 780 (e.g., bore axis, longitudinal axis) of the MRI scanner 700 to adjust the orientation of the aperture 702. In at least one embodiment, the axis 780 passes through the center of the MRI scanner 700, as shown in FIG. 17 . For example, FIG. 15 depicts the MRI scanner 700 positioned so that the aperture 702 is oriented vertically (e.g., 0° rotation). Turning to FIG. 16 , the MRI scanner 700 can be repositioned (rotated −45°) so that the aperture 702 is oriented at an angle compared to the configuration depicted by FIG. 15 . In some embodiments, the MRI scanner can be rotated to any angle to achieve a desired orientation of the aperture 702 (e.g., 45°, 90°, 180° as depicted in FIG. 18 ). The aperture 702 can be configured as a slot having a width and / or a minimum width greater than the outer diameter and / or maximum diameter of the surgical robot 734. Due to the size and orientation of slot 702, rotation of the dome-shaped housing can provide unrestricted access to locations within the dome-shaped housing for surgical intervention.

[0118] 16-21 , the aperture is configured as a slot. The MRI scanner 700 can be rotated about an axis 780 (e.g., bore axis, longitudinal axis; see FIG. 17 ) of the MRI scanner 700 to adjust the orientation of the aperture 702 and the orientation of the arm 716 and / or surgical robot 734. Adjusting the orientation of the aperture 702 can enable surgically relevant access to various portions of the head 742 of the patient 740. For example, the MRI scanner 700 can be rotated to orient the aperture 702 (e.g., slot) and surgical robot 734 to access a designated lesion, entry point, and / or planned target coordinates on the head 742 of the patient 740.

[0119] In at least one embodiment, the surgical robot 734 and the MRI scanner 700 are utilized in conjunction to perform a surgical procedure. For example, the MRI scanner 700 can be used to generate images in real time that guide the surgical robot 734 during the surgical procedure. In at least one embodiment, the surgical robot 734 is within the MRI scanner 700 during data collection to generate the images. In an alternative embodiment, the surgical robot 734 is removed from within the MRI scanner 700 during data collection to generate the images.

[0120] 19-21 , the cart 710 may include a drive actuator 766. The drive actuator 766 may be constructed of materials that do not or minimally interfere with MRI (e.g., the driver actuator 766 may be MR-safe and / or MR-compatible). The drive actuator 766 may include any type of actuator, such as a pneumatic actuator, an electric actuator, or a hydraulic actuator. The drive actuator 766 may generate torque to rotate the MRI scanner 700. The cart 710 may further include a drive modality 764 (e.g., gears) operably coupled to the drive actuator 766. The drive actuator 766 and the drive modality 764 may be constructed of materials that do not or minimally interfere with MRI (e.g., the drive actuator 766 and the drive modality 764 are MR-safe and / or MR-compatible). Furthermore, the MRI scanner 700 may include a driven modality 760 (e.g., gear teeth). The driven modality 760 can be constructed of materials that do not interfere or minimally interfere with MRI (e.g., the driven modality 760 is MR-safe and / or MR-compatible). The driving modality 764 and the driven modality 760 can be operatively coupled to rotate the MR scanner 700 about an axis 780 ( FIG. 17 ) by actuating a driver actuator 766. The driving modality 764 and the driven modality 760 can include any type and combination of components for transferring torque from the driving actuator 766 to rotate the MR scanner 700. For example, the driving modality 764 and the driven modality 760 can include any combination and / or type of gears, pulleys, sprockets, etc. The driving modality 764 and / or the drive actuator 766 can be positioned inside or outside the cart 710 to efficiently transfer power to the driven element 760. The frame of the MRI scanner 700 may include curved rails 714 supported by frictionless rolling elements 762 to allow safe and smooth rotation of the MRI scanner 700 .For example, the drive actuator 766 can cause the driving modality 764 to drive the driven modality 760 to rotate the MRI scanner 700 along the rails 714 .

[0121] 19, 20, and 21, although the adjustable arm 716 is depicted as being supported by the MR scanner 700, other support configurations for the adjustable arm 716 are contemplated by the present disclosure. For example, the adjustable arm 716 may be mounted to or otherwise supported by a cart 710, as described below with respect to FIGS. 22 and 23.

[0122] 22 and 23 illustrate an MRI-guided surgical robot system 703 (system 703) according to at least one embodiment of the present disclosure. System 703 is similar in many aspects to system 701 described above, and corresponding reference numbers refer to like components. In the non-limiting embodiment of FIGS. 22 and 23 , arm 716 is mounted on or otherwise supported by cart 710. Thus, MRI scanner 700 and arm 716 (and thus surgical robot 734) can move independently. Furthermore, in some aspects, compared to system 701, system 703 can provide more stability and rigidity for supporting arm 716 and / or surgical robot 734. Thus, system 703 can be configured in some aspects to provide greater force application and greater positioning accuracy of surgical robot 734 compared to system 701 (e.g., based on system 703 having a fixed, rigid base (e.g., cart 710)). System 703 can provide a similar range of arm 716 movement and workspace footprint.

[0123] 24-26 illustrate an MRI scanner 800 according to at least one embodiment of the present disclosure. MRI scanner 800 is similar in many aspects to MRI scanner 700, previously described, and corresponding reference numbers refer to similar components. MRI scanner 800 can be used with any of the systems described herein (e.g., systems 701 and 703).

[0124] 24, 25, and 26, the MRI scanner 800 includes a guide 802 (e.g., one or more rails). The guide 802 can extend around the periphery of the MRI scanner 800. The adjustable arm 716 can be mounted by or otherwise supported by a carriage 804. The carriage 804 can be operatively coupled to the guide 802 to allow the arm 716 to move around the circumference of the MRI scanner 800. For example, by sliding or otherwise moving the carriage 804 around the guide 802, the arm 716 and / or the surgical robot 734 can be oriented at any angle relative to the vertical or horizontal plane of the MRI scanner 800. In some embodiments, the carriage 804 can be locked in place relative to the guide 802 once a desired position is achieved to prevent movement of the carriage 804. In various embodiments, a motor internal to carriage 804 is configured to move carriage 804 along guide 802 .

[0125] 24-26 , the MRI scanner 800 can include one or more apertures 806. The one or more apertures 806 can include any type and combination of apertures (e.g., circular apertures, slots, rectangular apertures, etc.). The one or more apertures 806 can be configured in any pattern on the MRI scanner 800. For example, to allow the surgical robot 734 to pass through the MRI scanner 800 and access the head 742 of the patient 740, the one or more apertures 806 can be distributed circumferentially in the form of a circle, an ellipse, an arc slot, or any other shape factor that opens a passageway.

[0126] In at least one embodiment, arm 716 has at least two positional degrees of freedom (DOF) and at least two DOF of force feedback. The at least two DOF allow arm 716 to reach and position surgical robot 734 through opening 806 in the dome-shaped housing of MRI scanner 800. For example, arm 716 and surgical robot 734 can be positioned inside or outside of opening 806 in the dome-shaped housing of MRI scanner 800.

[0127] 27-29 illustrate an MRI scanner 900 according to at least one embodiment of the present disclosure. MRI scanner 900 is similar in many aspects to MRI scanner 700 and MRI scanner 800 described above, and corresponding reference numbers refer to similar components. MRI scanner 900 can be used with any of the systems described herein (e.g., systems 701 and 703).

[0128] In the non-limiting embodiment of FIGS. 27-29 , the MRI scanner 900 includes two oval, divisible segments, referred to as segment 902 and segment 904. The plane defining the division of segment 902 and segment 904 may be vertical, as depicted in FIGS. 27 , 28 , and 29 , or may be in any other orientation (e.g., horizontal, any angle relative to horizontal or vertical). The arm 716 may be mounted or otherwise supported by either segment 902 or segment 904. Furthermore, the arm 716 may be mounted or otherwise supported by either segment 902 or 904 at any angle relative to the vertical or horizontal plane of the MRI scanner 900 (e.g., an angle that provides the surgical robot 734 with the maximum reachable workspace based on the movement allowed by the joints of the shoulder 722 and elbow 726 of the arm 716). Furthermore, in some embodiments, the arm 716 may be mounted to a cart 710 as described with respect to FIGS. 22 and 23 . In some aspects, the adjustable gap between segment 902 and segment 904 can close during imaging and can open during intervention by surgical robot 734. In alternative aspects, the adjustable gap between segment 902 and segment 904 can open during imaging and intervention by surgical robot 734. Additionally, the adjustable gap between segment 902 and segment 904 can open when patient 740 and MRI scanner 900 are positioned relative to one another.

[0129] 30 and 31 illustrate an MRI scanner 1000 according to at least one embodiment of the present disclosure. MRI scanner 1000 is similar in many aspects to MRI scanner 700, MRI scanner 800, and MRI scanner 900 described above, and corresponding reference numbers refer to similar components. MRI scanner 1000 can be used with any of the systems described herein (e.g., systems 701 and 703).

[0130] In the non-limiting embodiment of FIGS. 30 and 31 , the MRI scanner 1000 includes two separable, narrow-necked segments, referred to as segment 1002 and segment 1004. The plane defining the division of segment 1002 and segment 1004 may be vertical, as depicted in FIGS. 30 and 31 , or may be in any other orientation (e.g., horizontal, any angle relative to horizontal or vertical). The arm 716 may be mounted or otherwise supported by either segment 1002 or segment 1004. Furthermore, the arm 716 may be mounted or otherwise supported by either segment 1002 or 1004 at any angle relative to the vertical or horizontal plane of the MRI scanner 1000 (e.g., an angle that provides the surgical robot 734 with the maximum reachable workspace based on the movement allowed by the joints of the shoulder 722 and elbow 726 of the arm 716). Furthermore, in some embodiments, the arm 716 may be mounted to a cart 710 as described with respect to FIGS. 22 and 23 . In some aspects, the adjustable gap between segment 1002 and segment 1004 can close during imaging and can open during intervention by surgical robot 734. In alternative aspects, the adjustable gap between segment 1002 and segment 1004 can open during imaging and intervention by surgical robot 734. Additionally, the adjustable gap between segment 1002 and segment 1004 can open when patient 740 and MRI scanner 1000 are positioned relative to one another.

[0131] 32 and 33 illustrate an MRI-guided surgical robotic system 1101 (system 1101) according to at least one embodiment of the present disclosure. System 1101 is similar in many aspects to previously described systems 701 and 703, with corresponding reference numbers referring to like components. System 1101 can include an MRI scanner 1100. MRI scanner 1100 is similar in many aspects to previously described MRI scanners 700, 800, 900, and 1000, with corresponding reference numbers referring to like components. MRI scanner 1100 can be used with any of the systems described herein (e.g., systems 701, 703, 1101).

[0132] As depicted in FIGS. 32 and 33 , the MRI scanner 1100 includes a long bore to accommodate a longer target limb of the patient 740. Additionally, the scanner 1100 includes at least one opening 1102 for surgical access (e.g., access to the lesion, entry point, fiducial markers, intubation, or draping by the surgical robot 734 and / or surgical staff). In at least one aspect, the arm 716 may be mounted or otherwise supported by the scanner 1100, as described above with respect to FIGS. 15-21 and 24-29 . Additionally, in some aspects, the arm 716 may be mounted to the cart 710, as described with respect to FIGS. 22 and 23 .

[0133] In at least one aspect, the patient table 750 can move the patient 740 relative to the MRI scanner 1100 to position the patient 740 within the MRI scanner 1100. In an alternative aspect, the MRI scanner 1100 is moved relative to the table 750 to position the patient 740 within the MRI scanner 1100. In at least one aspect, the MRI scanner 1100 can be mechanically coupled to a cart (e.g., cart 710) to allow a clinician to move the MRI scanner 1100 relative to the table 750 to position the patient 740 within the MRI scanner. In an alternative aspect, the MRI scanner 1100 is mechanically attached to the table 750 (e.g., by rails) to allow the table and / or the MRI scanner 1100 to move to position the patient 740 within the MRI scanner.

[0134] 34-36 illustrate an MRI scanner 1200 according to at least one embodiment of the present disclosure. MRI scanner 1200 is similar in many aspects to MRI scanner 700, MRI scanner 800, MRI scanner 900, MRI scanner 1000, and MRI scanner 1100 described above, and corresponding reference numbers refer to similar components. MRI scanner 1200 can be used with any of the systems described herein (e.g., systems 701, 703, 1101).

[0135] 34-36 , the MRI scanner 1200 includes an opening 1202 (e.g., a slot) and a guide 1204 (e.g., one or more rails) positioned along the opening 1202. The surgical robot 734 may be mounted or otherwise supported by a carriage 1206. The carriage 1206 may be operably coupled to the guide 1204 to allow the surgical robot 734 to move relative to the opening 1202. For example, by sliding or otherwise moving the carriage 1206 along the guide 1204, the surgical robot 734 may be oriented at any position relative to the opening 1202. In various embodiments, a motor internal to the carriage 1206 is configured to move the carriage 1206 along the guide 1204. In some embodiments, the carriage 1206 may be locked in place relative to the guide 1204 once a desired position is achieved to prevent movement of the carriage 1206. Thus, the position of the surgical robot 734 can be adjusted and locked at a specific angle relative to desired longitudinal and lateral coordinates.

[0136] Any aspect of the various systems 701, 703, 1101 and MRI scanners 700, 800, 900, 1000, 1100, 1200 described herein may be applied to different ones of the various systems 701, 703, 1101 and MRI scanners 700, 800, 900, 1000, 1100, 1200.

[0137] 37 depicts a method 1300 for operating an MRI-guided surgical robotic system according to at least one non-limiting embodiment of the present disclosure. Although method 1300 is described below as being performed by various components of system 701, method 1300 may be performed by any of the systems described herein, such as system 703 or system 1101, and may be used with any of MRI scanners 700, 800, 900, 1000, 1100, or 1200.

[0138] 37 , according to various aspects of the method 1300, a decision can be made 1302 regarding whether to position the patient 740. Basic pre-operative procedures can be performed. For example, the head 742 of the patient 740 can be immobilized via a head immobilization device 754. The patient 740 can be draped. The cart 710 can be moved adjacent to the patient bed 750.

[0139] 37 , according to method 1300, in one aspect, intraoperative MR registration may be performed 1304 using the MRI scanner 700. Intraoperative MR registration is a form of touchless tracking. Additionally, MRI-sensitive markers may be attached 1306 (e.g., to the head 742 of the patient 740 and / or the surgical robot 734). The MRI scanner 700 may be used to collect data of the MRI-sensitive markers. The data may be analyzed to determine the locations of the MRI-sensitive markers that allow the position of the patient and / or surgical robot 734 to be tracked in space.

[0140] 37 , in accordance with method 1300, in an additional or alternative aspect, optical registration may be performed (1310). Optical registration is a form of touchless tracking. For example, stereo cameras (e.g., two 4K stereo cameras) may be placed within the bore of the MR scanner 700. Additionally, retroreflective markers may be attached to the patient and / or the head 742 of the surgical robot 734 (1312). The stereoscopic cameras may record image data of the retroreflective markers. Visual analysis of the image data may be performed to determine the positions of the retroreflective markers, which allows the position of the patient and / or the surgical robot 734 to be tracked in space.

[0141] In some alternative embodiments, touch-based tracking may be used to track the patient's position in space. Touch-based tracking can limit the workspace of the surgical robot 734. For example, touch-based tracking can take up space inside the MRI scanner 700, leaving the surgical robot 734 with less room to orient within the MRI scanner 700.

[0142] Continuing to refer primarily to FIG. 37 , according to method 1300, the surgical robot 734 may be secured 1314 to components of the arm 716 and / or base stand 720. The cart 710 may be moved 1316 adjacent to the patient bed 750. For example, the cart 710 may be positioned so that the head 742 of the patient 740 is inside the bore of the MRI scanner 700 (e.g., as depicted in FIG. 11 ). Further, the patient 740 may be aligned 1318. For example, the MRI scanner 700 may be used to collect data regarding the head 742 of the patient 740. The data may be used for 3D reconstruction and alignment. In at least one embodiment, the data includes data collected with two 4K stereoscopic cameras. In additional or alternative embodiments, the data includes data from MRI-sensitive markers.

[0143] 37, according to the method 1300, the surgical robot 734 may be aligned 1320. The alignment 1320 may be based on whether the surgical robot 734 is supported by the MRI scanner 700 (e.g., as depicted in FIGS. 9-21) or whether the surgical robot 734 is supported by the cart 710 (e.g., as depicted in FIGS. 22-23).

[0144] 37 , according to method 1300, in embodiments where the surgical robot 734 is supported by the MRI scanner 700, the surgical robot 734 may be installed 1322. Installing 1322 the surgical robot 734 may include coupling the surgical robot 734 (e.g., arm 716 and / or base stand 720) to the MRI scanner 700.

[0145] 37 , according to method 1300, in embodiments where the surgical robot 734 is supported by the cart 710, the surgical robot 734 may be installed 1326. The installation 1326 may include coupling the surgical robot 734 (e.g., the arm 716 and / or the base stand 720) to the cart 710.

[0146] In some aspects, the arm 716 and / or surgical robot 734 can be equipped with optical and / or MRI sensitive markers for alignment 1328 similar to that performed on the patient. The positions of the optical and / or MRI sensitive markers can be tracked by an MRI system in real time during the surgical procedure, allowing the positions of the arm 716 and surgical robot 734 to be spatially tracked. In at least one aspect, once the patient 740 and surgical robot 734 are aligned, the position of the surgical robot 734 can be tracked relative to the position of the patient 740.

[0147] In some aspects, alignment 1318, 1328 of the surgical robot 734 and the patient 740 is performed by fusion of images acquired via a set of stereoscopic cameras placed within the bore of the MRI scanner 700 with images taken via intraoperative MRI. In some aspects, the optimized custom design of the bore of the MRI scanner 700 and the maneuverability of the surgical robot 734 can allow for easy access to the head 742 of the patient 740 during the surgical procedure for review and / or emergency intervention.

[0148] The surgical robot 734 and the MRI scanner 700 can be utilized in conjunction to perform a surgical procedure. For example, the MRI scanner 700 can be used to generate images that guide the surgical robot 734 during a surgical procedure. In at least one embodiment, the surgical robot 734 is within the MRI scanner 700 during data collection to generate the images. For example, the surgical robot 734 can be manipulated during the MRI scan. In an alternative embodiment, the surgical robot 734 is removed from within the MRI scanner 700 during data collection to generate the images.

[0149] Although Figures 9-37 illustrate various MRI scanners 700, 800, 900, 1000, 1100, 1200 in connection with scanning a patient's head, the MRI scanners 700, 800, 900, 1000, 1100, 1200 can also be used to generate images of other extremities (e.g., upper or lower extremities) positioned within the field of view of the respective scanner.

[0150] While several embodiments have been illustrated and described, it is not the intention of the applicant to restrict or limit the scope of the appended claims to such details. Numerous modifications, variations, changes, substitutions, combinations, and equivalents to these embodiments may be implemented without departing from the scope of the present disclosure, and will occur to those skilled in the art. Furthermore, the structure of each element associated with the described embodiments may alternatively be described as a means for providing the function performed by the element. Also, where materials are disclosed for particular components, other materials may be used. It should therefore be understood that the foregoing description and the appended claims are intended to cover all such modifications, combinations, and variations that fall within the scope of the disclosed embodiments. The appended claims are intended to cover all such modifications, variations, changes, substitutions, modifications, and equivalents.

[0151] The foregoing detailed description has described various aspects of devices and / or processes through the use of block diagrams, flowcharts, and / or examples. To the extent that such block diagrams, flowcharts, and / or examples include one or more functions and / or operations, those skilled in the art will appreciate that each function and / or operation in such block diagrams, flowcharts, and / or examples can be individually and / or collectively implemented by a wide range of hardware, software, firmware, or substantially any combination thereof. Those skilled in the art will recognize that some aspects of the embodiments disclosed herein can equivalently be implemented, in whole or in part, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or substantially any combination thereof, on integrated circuits, and that designing circuitry and / or writing code for the software and / or firmware is within the skill of those skilled in the art in light of this disclosure. Furthermore, those skilled in the art will appreciate that the subject matter mechanisms described herein may be distributed as one or more program products in a variety of forms, and that the illustrative forms of the subject matter described herein apply regardless of the particular type of signal-bearing medium used to actually effect the distribution.

[0152] The instructions used to program the logic to perform the various disclosed aspects may be stored in memory within the system, such as dynamic random access memory (DRAM), cache, flash memory, or other storage device. Additionally, the instructions may be distributed over a network or via other computer-readable media. Thus, a machine-readable medium may include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including, but not limited to, a floppy diskette, an optical disk, a compact disk, a read-only memory (CD-ROM), and a magneto-optical disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic or optical card, a flash memory, or any tangible machine-readable storage device used to transmit information over the Internet via an electrical, optical, acoustical, or other form of propagated signal (e.g., carrier wave, infrared signal, digital signal, etc.). Accordingly, non-transitory computer-readable media includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

[0153] As used in any aspect of the present specification, the term "control circuitry" may refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor including one or more individual instruction processing cores, a processing unit, a processor, a microcontroller, a microcontroller unit, a controller, a digital signal processor (DSP), a programmable logic device (PLD), a programmable logic array (PLA), or a field programmable gate array (FPGA)), a state machine circuit, firmware that stores instructions executed by the programmable circuitry, and any combination thereof. Control circuitry may be embodied collectively or individually as circuitry that forms part of a larger system, e.g., an integrated circuit (IC), an application specific integrated circuit (ASIC), a system on a chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smartphone, etc. Thus, as used herein, "control circuitry" includes, but is not limited to, an electrical circuit having at least one discrete electrical circuit, an electrical circuit having at least one integrated circuit, an electrical circuit having at least one application-specific integrated circuit, an electrical circuit forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer and / or device described herein configured by a computer program that at least partially executes a process, or a microprocessor and / or device described herein configured by a computer program that at least partially executes a process), an electrical circuit forming a memory device (e.g., a form of random access memory), and / or an electrical circuit forming a communications device (e.g., a modem, a communications switch, or an optoelectronic appliance). Those skilled in the art will recognize that the subject matter described herein can be implemented in analog or digital form or some combination thereof.

[0154] As used in any aspect of this specification, the term "logic" may refer to an application, software, firmware, and / or circuitry configured to perform any of the operations described above. Software may be embodied as a software package, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. Firmware may be embodied as code, instructions, instruction sets, and / or data hard-coded (e.g., non-volatile) in a memory device.

[0155] As used in any aspect of this specification, terms such as "component," "system," "module," and the like may refer to a controlled circuit computer-related entity that is either hardware, a combination of hardware and software, software, or software in execution.

[0156] As used in any aspect of this specification, an "algorithm" refers to a self-consistent sequence of steps leading to a desired result, and the "steps" refer to manipulations of physical quantities and / or logical states, which may, but need not, take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is common usage to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. These and similar terms may be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities and / or states.

[0157] The network may include a packet-switched network. The communication devices may be capable of communicating with each other using a selected packet-switched network communication protocol. One exemplary communication protocol may include an Ethernet communication protocol, which may enable communication using Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol may conform to or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) entitled "IEEE 802.3 Standard," published December 2008, and / or later versions of this standard. Alternatively or additionally, the communication devices may be capable of communicating with each other using an X.25 communication protocol. The X.25 communication protocol may conform to or be compatible with standards published by the International Telecommunication Union Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices may be capable of communicating with each other using a frame relay communication protocol. The frame relay communication protocol may conform to or be compatible with standards published by the Consultative Committee for International Telegraph and Telephone (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers may be capable of communicating with each other using an Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol may conform to or be compatible with the ATM standard published by the ATM Forum entitled "ATM-MPLS Network Interworking 2.0," published in August 2001, and / or later versions of this standard. Of course, different and / or later-developed connection-oriented network communication protocols are also contemplated herein.

[0158] Unless otherwise stated as is apparent from the foregoing disclosure, throughout the foregoing disclosure, discussions using terms such as "processing," "calculating," "computing," "determining," "displaying," and the like will be understood to refer to the operations and processes of a computer system or similar electronic computing device that manipulates and converts data represented as physical (electronic) quantities in the computer system's registers and memory into other data similarly represented as physical quantities in the computer system's memory or registers or other such information storage, transmission, or display devices.

[0159] One or more components may be referred to herein as being "configured to," "configurable to," "operable," "adapted," "capable," "suitable," etc. Those skilled in the art will recognize that unless the context requires otherwise, "configured to" may generally encompass active and / or inactive and / or standby components.

[0160] The terms "proximal" and "distal" are used herein with respect to a clinician manipulating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion located away from the clinician. It will be further understood that for convenience and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0161] Those skilled in the art will recognize that, generally, the terms used in this specification, and particularly in the appended claims (e.g., the body of the appended claims), are generally intended as "open" terms (e.g., the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," the term "includes" should be interpreted as "includes but not limited to," etc.). Where recitation of a specific number of introduced claim scopes is intended, such intention will be explicitly set forth in the claim, and it will be further understood by those skilled in the art that, in the absence of such recitation, no such intention exists. For example, to aid in understanding, the following appended claims include the use of the introductory phrases "at least one" and "one or more" to introduce the recitation of claim scopes. However, the use of such phrases should not be construed to mean that introducing a claim recitation with the indefinite article "a" or "an" limits any particular claim that includes such an introduced claim recitation to claims that include only one of such recitations, even when the same claim includes the introductory phrase "one or more" or "at least one" and an indefinite article such as "a" or "an" (e.g., "a" and / or "an" should typically be construed to mean "at least one" or "one or more"), and the same is true for the use of definite articles used to introduce claim recitations.

[0162] Furthermore, even if a specific number of introduced claim recitations is explicitly recited, those skilled in the art will recognize that such recitations should typically be interpreted to mean at least the recited number (e.g., the bare recitation of "two recitations" without other modifiers typically means at least two recitations, or more than two recitations). Furthermore, in instances where a convention similar to "at least one of A, B, and C, etc." is used, such configuration is generally intended in the sense that one skilled in the art would understand the convention (e.g., "a system having at least one of A, B, and C" includes, but is not limited to, systems having A only, B only, C only, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). In instances where a convention similar to "at least one of A, B, or C, etc." is used, such configuration is generally intended in the sense that one of ordinary skill in the art would understand the convention (e.g., "a system having at least one of A, B, or C" includes, but is not limited to, systems having A only, B only, C only, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). It will be further understood by those of ordinary skill in the art that typically disjunctive words and / or phrases presenting two or more alternative terms should be understood as considering the possibility of including one of the terms, either of the terms, or both terms, unless the context dictates otherwise. For example, the phrase "A or B" is typically understood to include the possibilities of "A" or "B" or "A and B."

[0163] With respect to the appended claims, those skilled in the art will understand that the operations described therein may generally occur in any order. Also, while various operational flow diagrams are shown sequentially, it should be understood that various operations may occur in orders other than the order illustrated, or may occur simultaneously. Examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preliminary, supplemental, simultaneous, reverse, or other variant orderings, unless the context dictates otherwise. Furthermore, terms such as "responsive to," "related to," or other past-tense adjectives are generally not intended to exclude such variants, unless the context dictates otherwise.

[0164] It is worth noting that references to "one embodiment," "one aspect," "one example," "one demonstration," etc. mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment," "in one embodiment," "in one example," and "in one example" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0165] Any patent applications, patents, non-patent publications, or other disclosure materials referred to herein and / or listed in any Application Data Sheet are incorporated herein by reference to the extent that the incorporated material does not contradict this specification. Accordingly, to the extent necessary, the disclosures expressly set forth herein supersede any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated herein by reference but that contradicts existing definitions, statements, or other disclosure material set forth herein is incorporated only to the extent that no contradiction arises between the incorporated material and the existing disclosure material.

[0166] In summary, many advantages have been described that flow from the use of the concepts described herein. The foregoing description of one or more embodiments has been presented for purposes of illustration and description. It is not intended to be exhaustive or to be limited to the precise embodiments disclosed. Modifications or variations are possible in light of the above teachings. One or more embodiments have been selected and described in order to illustrate the principles and practical applications, thereby enabling those skilled in the art to utilize various embodiments and various modifications suited to the particular use contemplated. The claims submitted herewith are intended to define the overall scope.

Claims

1. 1. A system comprising: a magnetic resonance imaging (MRI) scanner comprising a housing forming a dome, a region of interest defined within the dome, the housing comprising a permanent magnet array forming a modified Halbach array, the MRI scanner configured to generate an image of the region of interest, an aperture defined through the housing into the region of interest; a surgical robot comprising a robotic arm, the robotic arm mounted to the MRI scanner, the robotic arm sized to pass through the opening in the housing; A system comprising:

2. The system of claim 1 , wherein the dome comprises a curved wall and a rim, the opening being defined through the curved wall.

3. The housing defines a bore having a longitudinal axis, and the permanent magnet array is aligned with the longitudinal axis. ０ The system of claim 1 , adapted to generate a magnetic field.

4. B ０ The system of claim 3 , wherein the magnetic field is less than 1.0 T.

5. B ０ The system of claim 3 , wherein the magnetic field is less than 0.1 T.

6. The system of claim 3 , further comprising a mobile cart, wherein the MRI scanner is rotatably mounted to the mobile cart.

7. The system of claim 6 , wherein the opening defines a slot, and the angle of the slot is adjusted by rotating the MRI scanner.

8. The system of claim 1 , further comprising a wheeled cart, wherein the MRI scanner and the surgical robot are mounted on the wheeled cart.

9. 9. The system of claim 8, wherein the wheeled cart comprises a rotational actuator operably coupled to the MRI scanner, and actuation of the rotational actuator rotates the housing about a longitudinal axis.

10. The system of claim 9 , wherein the wheeled cart is releasably attachable to a patient table.

11. 11. The system of claim 10, wherein the patient table comprises a fixation device for holding a patient's head, and the MRI scanner is positionable to surround the fixation device and the head of the patient.

12. 10. The system of claim 1, wherein the housing further comprises a guide, and the surgical robot comprises a carriage operably coupled to the guide, the carriage being slidable along the guide to adjust the position of the surgical robot.

13. The system of claim 1 , wherein the MRI scanner is adapted to generate the images in real time while the surgical robot is performing a surgical procedure.

14. 10. The system of claim 1, further comprising a surgical end effector extending from the robotic arm, the robotic arm comprising at least two degrees of freedom for selectively positioning the surgical end effector through the opening and within the region of interest.

15. 1. A method of performing a surgical procedure using an MRI-guided surgical robotic system, the method comprising: positioning a patient on a patient table, the patient table comprising a fixation device; Immobilizing the patient's head on the immobilization device; moving a cart supporting an MRI scanner adjacent to the patient table, the head of the patient being positioned within a dome-shaped housing of the MRI scanner, the dome-shaped housing defining an imaging region; positioning a surgical robot relative to the MRI scanner using a robotic arm; co-aligning the MRI scanner and the robotic arm with the head; cooperatively utilizing the surgical robot and the MRI scanner to perform the surgical procedure; A method comprising:

16. 16. The method of claim 15, wherein the dome-shaped housing further comprises an opening for accessing the head of the patient, the method further comprising moving the robotic arm through the opening to position a surgical end effector attached to the robotic arm within an imaging field.

17. The method of claim 15 , further comprising rotating the dome-shaped housing to position the opening in a first configuration.

18. 18. The method of claim 17, further comprising rotating the dome-shaped housing to position the opening in a second configuration.

19. The method of claim 15, further comprising using the surgical robot and the MRI scanner simultaneously.

20. The method of claim 15, further comprising operating the surgical robot during an active MRI scan.

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