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US 9,844,414 B2Granted
System and method for robotic surgical intervention in a magnetic resonance imager
OwnerGregory S. Fischer, Gregory A. Cole +1inventors
InventorsGregory S. Fischer, Gregory A. Cole, Julie G. Pilitsis
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Abstract
A system and method for image guided assisted medical procedures using modular units, such that a controller, under the direction of a computer and imaging device, can be utilized to drive and track low cost, purpose specific manipulators. The system utilizes modular actuators, self tracking, and linkages. The system can be optimized at a low cost for most effectively performing surgical procedures, while reusing the more costly components of the system, e.g. the control, driving, and tracking systems. The system and method may utilize MRI real time guidance during the above procedures.
Claims20
A modular system for use with a manipulator selected from a plurality of manipulators for a medical procedure,
- the modular system configured for providing an image guided assisted medical procedure, the modular system comprising:
- a plurality of computer controlled actuators coupled to the manipulator;
- a controller configured for defining from one to eight degrees of freedom of movement of an instrument and identifying linkages that are configured for performing movements of at least one degree of freedom of movement of said one to eight degrees of freedom,
- wherein the controller is connected to said actuators and configured for providing signals to the actuators in order to move the manipulator from one to eight degrees of freedom for creating computer controlled motion of the manipulator, at least one degree of freedom of movement of said one to eight degrees of freedom is along a passively guided unactuated insertion axis including at least one of a sensor or a tracking fiducial marker, said controller and said actuators also configured to operate with alternate manipulators selected from the plurality of manipulators by identifying linkages of the at least one alternate manipulators for performing at least one motion, and selecting actuators and sensors for connecting to said linkages of the at least one alternate manipulator for controlling movements thereof;
- an imaging device, comprising a magnetic resonance imaging (MRI) system including a bore, the MRI system enabling visualization of a tissue at said medical procedure;
- and
- a computer communicatively coupled to said MRI system and said controller,
- wherein the manipulators are provided and configured to operate within the bore of the MRI system during said medical procedure, and
- wherein the computer is configured to collect and process images from said MRI system, and further configured to instruct said controller to direct under computer control the plurality of manipulators via said signals to the actuators to move the plurality of manipulators based upon said images collected by said computer from said MRI system.
6 more elements
A modular system for an image guided robotic assisted medical procedure, the modular system comprising:
- a manipulator for performing a stereotactic neurosurgical procedure within a bore of a magnetic resonance imaging (MRI) system;
- a plurality of computer controlled actuators coupled to said manipulator;
- a controller configured for defining from one to eight degrees of freedom of movement of an instrument and identifying linkages that are configured for performing movements of at least one degree of freedom of movement of said one to eight degrees of freedom,
- wherein the controller is connected to said actuators and configured for providing signals to said actuators in order to move said manipulator in at least one degree of freedom for creating computer controlled motion thereof,
- said at least one degree of freedom being one of said one to eight degrees of freedom being required for performing the stereotactic neurosurgical procedure,
- wherein at least one degree of freedom of movement of said one to eight degrees of freedom is along a passively guided unactuated insertion axis including at least one of a sensor or a tracking fiducial marker, said controller and said actuators further configured for coupling to and directing at least one alternative manipulator by identifying linkages of the at least one alternate manipulator for performing at least one motion, and selecting actuators and sensors for connecting to said linkages of the at least one alternate manipulator for controlling movements thereof;
- wherein the MRI system is configured for enabling visualization of a tissue at said stereotactic neurosurgical procedure;
- and
- a computer communicatively coupled to the MRI system and said controller,
- wherein said computer collects and processes images from said MRI system and instructs said controller to direct said manipulators under computer control via said signals to the actuators to move said manipulators based upon said images collected by said computer from said MRI system in order to perform the stereotactic neurosurgical procedure.
7 more elements
A method for image guided robotic assisted medical procedure, the method comprising:
- identifying an area of a body for a medical procedure;
- defining from one to eight degrees of freedom of movement of an instrument, at least one degree of freedom of movement of said one to eight degrees of freedom being required for performing the medical procedure, wherein at least one degree of freedom of movement of said one to eight degrees of freedom is along a passively guided unactuated insertion axis including at least one of a sensor or a tracking fiducial marker;
- coupling a manipulator to a plurality of computer controlled actuators, the manipulator configured for performing the medical procedure within a bore of an MRI device, the coupling further comprising
- identifying linkages for performing said movement along said at least one degree of freedom of movement, and
- selecting at least one of said actuators and said at least one of a sensor or a tracking fiducial marker for connecting to said linkages for controlling movements thereof;
- communicatively coupling a computer to said MRI device and a controller for providing signals;
- and
- connecting said manipulator to the controller for moving said manipulator under computer control via the signals to the actuators based upon images collected by the controller from the MRI device,
- wherein the controller is further configured for coupling to and directing at least one alternate manipulator adapted for said medical procedure by identifying linkages of the at least one alternate manipulator for performing at least one motion, and selecting actuators and sensors for connecting to said linkages of the at least one alternate manipulator for controlling movements thereof based upon images collected by the controller from the MRI device.
6 more elements
Dependencies are inferred from the claim text.