US 2022/0054199 A1 · ROBOTIC SURGERY SYSTEMS AND SURGICAL GUIDANCE METHODS THEREOF

Abstract

The invention in its various embodiments relates to a method of providing surgical guidance and targeting in robotic surgery systems. The method utilizes data from a navigation system in tandem with 2-dimensional (2D) intra-operative imaging data. 2D intra-operative image data is superimposed with a pre-operative 3-dimensional (3D) image and surgery plans made in the pre-operative image coordinate system. The superimposition augments real-time intraoperative navigation for achieving image guided surgery in robotic surgery systems. Also, a robotic surgery system that incorporates the method of providing surgical guidance and targeting is disclosed. The advantages include minimizing radiation exposure to a patient by avoiding intra-operative volumetric imaging, mobility of tools, imager and robot in and out of the operating space without the need for re-calibration, and relaxing the need for repeating precise imaging positions.

Claims20

Dependent claims

A method of providing surgical guidance and targeting in robotic surgery systems comprising an imager comprising a source, a detector having a marker and a navigation system having a tracker, comprising the steps of:

capturing by an imaging system pre-operative, image data of a patient at predetermined positions and orientations;
reconstructing a 3D pre-operative image data from the captured pre-operative image data using a processing system;
capturing 2D intra-operative image data of the patient at the predetermined positions and orientations of the imager during a surgical procedure;
registering the 2D intra-operative image data and the navigation system data in real time during the surgical procedure to track the position of a tool;
registering the 2D intra-operative image data with the 3D pre-operative image data;
and
augmenting the intra-operative image data with a rendering of the 3D pre-operative image data that is in registration with the real time intra--operative 2D image data.

4 more elements

A robotic surgery system comprising:

an imaging system (320) comprising an imaging modality that is configured to capture pre-operative 2D images of a patient at predetermined positions and orientations and reconstruct a 3D pre-operative image from the obtained 2D images;
an imager (301) having a source (303), a detector (305), a marker attached to the detector wherein the imager (303) is configured to be fixed at one or more positions and orientations and capture 2D intra-operative image data of a patient during a surgical procedure;
a navigator system (313) having a tracker configured to obtain navigator data comprising position information of tools;
a computing system (330) comprising
a memory module (332) and a processing module (334) coupled to the memory module (332) wherein the processing module (334) is configured to
register the 2D intra-operative image data and the navigation system data in real time during the surgical procedure to track the position of tools;
register the 2D intra-operative image data with the 3D pre-operative image;
and
augment the 2D intra-operative image data with a rendering of the 3D pre-operative image data that is in registration with the real time intra-operative 2D image data;
and
a display device (340) configured to display the rendering of the 3D pre-operative image data that is in registration with the real time intra-operative 2D image data and the position of the tools.

8 more elements

Dependencies are inferred from the claim text.

Robotic surgery systems and surgical guidance methods thereof

Life of this patent

Robotic surgery systems and surgical guidance methods thereof

Life of this patent

Abstract

Claims20