公开(公告)号：US20130303883A1

公开(公告)日：2013-11-14

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

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，以预定的方式附接到机器人或机器人附接到的另一个元件， 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。