CA2454861A1 - Miniature bone-attached surgical robot - Google Patents

Miniature bone-attached surgical robot Download PDF

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Publication number
CA2454861A1
CA2454861A1 CA002454861A CA2454861A CA2454861A1 CA 2454861 A1 CA2454861 A1 CA 2454861A1 CA 002454861 A CA002454861 A CA 002454861A CA 2454861 A CA2454861 A CA 2454861A CA 2454861 A1 CA2454861 A1 CA 2454861A1
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CA
Canada
Prior art keywords
surgical
robot
surgical system
base member
bone
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002454861A
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French (fr)
Other versions
CA2454861C (en
Inventor
Moshe Shoham
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mazor Robotics Ltd
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Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of CA2454861A1 publication Critical patent/CA2454861A1/en
Application granted granted Critical
Publication of CA2454861C publication Critical patent/CA2454861C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
    • A61B17/1757—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the spine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating apparatus or devices for radiation diagnosis
    • A61B6/582—Calibration
    • A61B6/583—Calibration using calibration phantoms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Abstract

A miniature surgical robot and a method for using it are disclosed. The miniature surgical robot attaches directly with the bone of a patient. Two-dimensional X-ray images of the robot on the bone are registered with three-dimensional images of the bone. This locates the robot precisely on the bone of the patient. The robot is then directed to the pre-operative determined positions based on a pre-operative plan by the surgeon. The robot then moves to the requested surgical site and aligns a sleeve through which the surgeon can insert a surgical tool.

Claims (31)

1. A surgical system, comprising:
a surgical robot for manipulating a surgical tool to a surgical site with precise positioning during a surgical procedure;
an attachment member configured and dimensioned to attach the surgical robot to a bone associated with said surgical site; and a controller programmed prior to said surgical procedure to direct the robot to position the surgical tool at the surgical site.
2. The surgical system according to claim 1, wherein said robot comprises:
a base member;
at least four actuators extending outward from the base member at fixed angles, said actuators being arranged in cooperating pairs, said pairs together defining a spherical joint at cooperating ends opposite the base member, and a surgical tool held by said spherical joints.
3. The surgical system according to claim 2, wherein said surgical tool comprises at least one of a tool guide, a cutting member and a drilling member.
4. The surgical system according to claim 2, wherein said actuators define a longitudinal axis and are configured to provide only translational movement along said axis.
5. The surgical system according to claim 2, wherein surgical site lies at least approximately within a defined plane and said surgical robot is configured and dimensioned such that said base member is at least approximately perpendicular to said defined plane.
6. The surgical system according to claim 1, wherein said robot comprises a miniature parallel robot.
7. A surgical system of claim 1, wherein said robot comprises at least 3 actuators mounted on a base member, said actuator being configured for at least translational or rotational movement.
8. The surgical system according to claim 1, wherein said attachment member comprises a robot receiving adaptor mounted on a bone attachment portion.
9. The surgical system according to claim 8, wherein said bone attachment portion comprises a clamp having at least two jaws shaped to mate with a specific bone configuration.
10. The surgical system according to claim 8, wherein said bone attachment portion comprises at least one wire configured and dimensioned to be received in bone holes.
11. The surgical system according to claim 1, wherein said controller comprises a cpu and user interface communicating with said robot, said cpu containing a program for guiding the robot based on data generated from surgical site images.
12. The surgical system according to claim 11, wherein said surgical site images are created prior to each surgical procedure requiring a new location for the support member.
13. The surgical system according to claim 1 wherein:
said surgical robot comprises a base member, two pairs of actuators extending outward from said base member at fixed angles, wherein said actuators each have first and second ends, said first ends of a pair being spaced apart on said base member and said second ends of a pair coming together to define a tool holding element;
said attachment member is removably securabled to said robot base member and configured and dimensioned to attach said surgical robot to a bone associated with said surgical site; and said controller includes a processor and user interface communicating with said robot, said processor containing a program for guiding the robot based on data generated from surgical site images created prior to said surgical procedure.
14. The surgical system of claim 1, wherein said controller includes a processor containing a program for guiding the robot based on data generated from surgical site images created prior to said surgical procedure.
15. The surgical system of claim 13 or 14, wherein said program includes instructions for executing the following steps:
planning the surgical procedure utilizing data from an initial three dimensional image to provide a surgical plan referencing said initial three dimensional image;
generating at least two radiographic images of the surgical site and support member;
correlating said radiographic images to form a pseudo three dimensional image including an accurate position of the attachment member attached to the bone;
selecting a window from said pseudo three dimensional image and registering said window with a similarly chosen window from the initial three dimensional image;
and correlating the pseudo three dimensional image with the initial three dimensional image such that the attachment member is located with respect to the surgical plan.
16. The surgical system according to claim 15, wherein said instructions for selecting a window results in a window selected approximately adjacent the attachment member.
17. The surgical system according to claim 15, said program further includes instructions for calibrating the radiographic images based on reference markers on an imaging reference plate mounted on the attachment member prior to generating said radiographic image of the surgical site.
18. The surgical system according to claim 15, wherein said robot includes a known reference dimension and said program further includes instructions for calibrating the radiographic images based on said reference markers prior to generating said radiographic image of the surgical site.
19. The surgical system according to claim 15, wherein said instructions for correlating the pseudo three dimensional image with the initial three dimensional image comprises instructions for registering the remaining portions other than said window of said pseudo three dimensional image with the remaining portions other than said window of said three dimensional image.
20. The surgical system of claim 15, wherein said program further comprises instructions for automatically positioning the surgical tool according to the surgical plan based on the correlated location of the attachment member with respect to said plan.
21. The surgical system of claim 15, wherein said program includes instructions for inserting a surgical tool through a guide sleeve to a precisely located surgical site.
22. The surgical system according to claim 1, wherein the surgical robot comprises:
a base member;
at least two pairs of arms extending from the base member, said arms comprising linear actuators wherein the arms of each pair are spaced apart at the base member and extend toward one another opposite said base member, terminating in cooperating ends;
a spherical joint mounted on each pair of said cooperating ends; and a surgical tool having a tool end extending through said spherical joints such that said tool may be positioned at any point within a predefined plane due to motion of said actuators.
23 The surgical system according to claim 22, wherein said surgical tool comprises a guide sleeve through which an instrument may be inserted.
24. The surgical system according to claim 22, wherein said arms further comprise a hinge joint positioned between the linear actuator and spherical joint.
25. The surgical system according to claim 24, wherein said hinge joint permits pivoting through about 270 degrees around an axis at least approximately parallel to said base member.
26. The surgical system according to claim 24, wherein said pairs of arms extend from the base member toward each other at an angle between about fifteen and ninety degrees.
27. The surgical system according to claim 26, wherein said angle is about forty-five degrees.
28. The surgical system according to claim 27, wherein said arms are spaced apart by about fifty millimeters at the base member.
29. The surgical system according to claim 22, wherein said spherical joint comprises:
an upper collar attached to the cooperating end of a first arm;
a lower collar attached to the cooperating end of a second arm; and a ball captured between said collars, said ball defining a hole there through for receiving the surgical tool.
30. The surgical system according to claim 1, wherein said attachment member comprises:
first and second opposed clamp jaws, said jaws having facing clamping surfaces for contacting the bone;
clamp mechanism cooperating with the clamp jaws to bring the jaws together with said clamping surfaces in parallel relationship;
first and second threaded members received in said clamp mechanism;
a clamp adapter secured to said clamp mechanism by said threaded members, said clamp adapter cooperating with said threaded members to lock said clamp jaws and being configured and dimensioned for mounting of a surgical instrument thereon;
and first and second removable handles receivable in said threaded members such that said removable handles may be brought together to close said jaws and rotated to rotate said threaded members thereby locking said clamp jaws.
31. The surgical system according to claim 1, further comprising:
means for imaging a patient with said attachment member attached to the bone;
means for co-registering said images of the patient with said attachment member;
means for registering said images of the patient with said attachment member with images generated by a three dimensional scanner; and means for operating by directing said robot manipulated to pre-operatively planned destinations.
CA2454861A 2001-07-24 2002-05-22 Miniature bone-attached surgical robot Expired - Lifetime CA2454861C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US09/912,687 US6837892B2 (en) 2000-07-24 2001-07-24 Miniature bone-mounted surgical robot
US09/912,687 2001-07-24
PCT/IL2002/000399 WO2003009768A1 (en) 2001-07-24 2002-05-22 Miniature bone-attached surgical robot

Publications (2)

Publication Number Publication Date
CA2454861A1 true CA2454861A1 (en) 2003-02-06
CA2454861C CA2454861C (en) 2011-04-26

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Family Applications (1)

Application Number Title Priority Date Filing Date
CA2454861A Expired - Lifetime CA2454861C (en) 2001-07-24 2002-05-22 Miniature bone-attached surgical robot

Country Status (6)

Country Link
US (4) US6837892B2 (en)
EP (1) EP1414362B1 (en)
JP (1) JP2004535884A (en)
AT (1) ATE541529T1 (en)
CA (1) CA2454861C (en)
WO (1) WO2003009768A1 (en)

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US20100204714A1 (en) 2010-08-12
US8571638B2 (en) 2013-10-29
ATE541529T1 (en) 2012-02-15
CA2454861C (en) 2011-04-26
US10058338B2 (en) 2018-08-28
JP2004535884A (en) 2004-12-02
WO2003009768A1 (en) 2003-02-06
EP1414362B1 (en) 2012-01-18
US20050171557A1 (en) 2005-08-04
US20100198230A1 (en) 2010-08-05
US6837892B2 (en) 2005-01-04
US20020038118A1 (en) 2002-03-28
EP1414362A1 (en) 2004-05-06

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