公开(公告)号：US09125556B2

公开(公告)日：2015-09-08

申请号：US13893366

申请日：2013-05-14

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eli Zehavi ,  Moshe Shoham

IPC: A61B1/00 ,  A61B8/08 ,  A61B6/03 ,  G01R33/28 ,  A61B6/00 ,  A61B19/00 ,  A61B6/12 ,  A61B17/00

CPC classification number: A61B1/00154 ,  A61B6/032 ,  A61B6/12 ,  A61B6/485 ,  A61B6/487 ,  A61B6/5247 ,  A61B8/0841 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00261 ,  A61B2090/367 ,  A61B2090/3966 ,  A61B2090/3983 ,  G01R33/285

Abstract: Systems and methods for performing robotic endoscopic surgical procedures, according to a surgical plan prepared on a preoperative set of three dimensional images. The system comprises a surgical robot whose coordinate system is related to that of fluoroscope images generated intraoperatively, by using a three dimensional target having radio-opaque markers, attached in a predetermined manner to the robot or to another element to which the robot is attached, such as the spinal bridge or an attachment clamp. The robot is mounted directly or indirectly on a bone of the patient, thereby nullifying movement of the bone, or a bone tracking system may be utilized. The coordinate system of the intraoperative fluoroscope images may be related to the preoperative images, by comparing anatomical features between both image sets. This system and method enables the endoscope to be directed by the robot along the exact planned path, as determined by the surgeon.

Abstract translation: 根据在术前三维图像上准备的外科手术方案进行机器人内窥镜外科手术的系统和方法。 该系统包括：手术机器人，其坐标系与术中产生的荧光镜图像的坐标系相关，通过使用具有不规则标记的三维目标，以预定方式附接到机器人或机器人附接到的另一元件， 例如脊柱桥或附接夹。 机器人直接或间接地安装在患者的骨骼上，从而使骨的运动无效，或者可以利用骨骼跟踪系统。 通过比较两个图像组之间的解剖特征，术中荧光图像的坐标系可能与术前图像有关。 该系统和方法使得内窥镜能够由机器人沿着精确的计划路径指导，如由外科医生确定的。

公开(公告)号：US20150150523A1

公开(公告)日：2015-06-04

申请号：US14402696

申请日：2013-05-21

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yael Sirpad ,  Eli Zehavi ,  Moshe Shoham ,  Leonid Kleyman

IPC: A61B6/12 ,  A61B6/00 ,  G06K9/62 ,  G06T7/00 ,  G06T15/00

CPC classification number: A61B6/12 ,  A61B6/5235 ,  A61B6/5247 ,  A61B90/36 ,  A61B2090/364 ,  A61B2090/367 ,  A61B2090/376 ,  A61B2090/3966 ,  G06K9/6202 ,  G06T7/70 ,  G06T15/00 ,  G06T2207/10121 ,  G06T2207/30008

Abstract: A method verifying the position of a surgically inserted orthopedic insert. A preoperative three dimensional image data set of the surgical site is generated, showing the bone into which the insert is to be inserted. During the insertion procedure, a series of intraoperative two-dimensional fluoroscope images are generated, each at a known pose relative to the bone, showing the insert during or after insertion into the bone. The 3-D position of the insert is determined in an intraoperative three dimensional image data set reconstructed from the series of intraoperative 2-D fluoroscope images. The reconstructed intraoperative 3-D image data set is registered with the preoperative three dimensional image data set, such as by comparison of imaged anatomical features. Once this registration is achieved, the determined 3-D position of the insert is used to implant a virtual image of the insert into the preoperative three dimensional image data set.

Abstract translation: 一种验证手术插入的整形外科插入物的位置的方法。 产生手术部位的术前三维图像数据集，显示插入物插入其中的骨骼。 在插入过程期间，产生一系列术中二维荧光镜图像，每个以相对于骨骼的已知姿势生成，在插入骨中期间或之后显示插入物。 插入物的3-D位置是在从一系列术中2-D荧光镜图像重建的术中三维图像数据集中确定的。 例如通过比较成像的解剖特征，将重建的术中3-D图像数据集与术前三维图像数据集进行配准。 一旦达到该注册，则使用所确定的插入物的3-D位置将插入物的虚拟图像植入到术前三维图像数据集中。