公开(公告)号：US20130218005A1

公开(公告)日：2013-08-22

申请号：US13763284

申请日：2013-02-08

申请人： UNIVERSITY OF MARYLAND, COLLEGE PARK ,  UNIVERSITY OF MARYLAND, BALTIMORE

发明人： JAYDEV P. DESAI ,  MINGYEN HO ,  J. MARC SIMARD ,  RAO GULLAPALLI

IPC分类号： A61B19/00 ,  A61M1/00 ,  A61B18/12 ,  A61B18/04 ,  A61B8/08 ,  A61N7/00 ,  A61B5/055 ,  A61B5/06 ,  A61B6/03 ,  A61B17/00 ,  A61B18/20

CPC分类号： A61B6/032 ,  A61B5/055 ,  A61B5/062 ,  A61B6/12 ,  A61B8/0841 ,  A61B17/00234 ,  A61B18/042 ,  A61B18/12 ,  A61B18/1492 ,  A61B18/20 ,  A61B34/20 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2018/00446 ,  A61B2018/00577 ,  A61B2034/2051 ,  A61B2034/306 ,  A61B2034/715 ,  A61M1/0058 ,  A61N7/00 ,  A61N7/022

摘要： Minimally invasive neurosurgical intracranial robot system is introduced to the operative site by a neurosurgeon through a narrow surgical corridor. The robot is passed through a cannula and is attached to the cannula by a latching mechanism. The robot has several links interconnected via revolute joints which are tendon-driven by tendons routed through channels formed in the walls of the links. The robot is teleoperatively guided by the neurosurgeon based on real-time images of the intracranial operative site and tracking information of the robot position. The robot body is equipped with a tracking system, tissue liquefacting end-effector, at as well as irrigation and suction tubes. Actuators for the tendon-driven mechanism are positioned at a distance from the imaging system to minimize distortion to the images. The tendon-actuated navigation of the robot permits an independent control of the revolute joints in the robot body.

摘要翻译： 微创神经外科颅内机器人系统由神经外科医生通过狭窄的手术走廊引入手术部位。 机器人穿过套管并通过闭锁机构附接到套管。 机器人具有通过旋转接头相互连接的多个连杆，其由通过形成在链节壁中的通道布置的腱驱动。 机器人由神经外科医生根据颅内手术部位的实时图像和机器人位置的跟踪信息进行远程导引。 机器人身体配备有跟踪系统，组织液化终端执行器，以及灌溉和抽吸管。 用于腱驱动机构的致动器位于离成像系统一定距离处，以最小化图像的失真。 机器人的肌腱导向导航可以独立控制机器人体内的旋转关节。

公开(公告)号：US20130296737A1

公开(公告)日：2013-11-07

申请号：US13875849

申请日：2013-05-02

申请人： University of Maryland, College Park ,  UNIVERSITY OF MARYLAND, BALTIMORE

发明人： ALAN B. MCMILLAN ,  RAO GULLAPALLI ,  HOWARD M. RICHARD, III ,  STEVEN ROYS ,  JAYDEV P. DESAI

IPC分类号： A61B19/00 ,  A61B10/02

CPC分类号： A61B34/20 ,  A61B5/055 ,  A61B6/032 ,  A61B8/0841 ,  A61B10/02 ,  A61B17/00234 ,  A61B18/042 ,  A61B18/1492 ,  A61B18/201 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2018/00446 ,  A61B2018/00577 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/306 ,  A61B2034/715 ,  A61N7/022

摘要： Telemetrical control of a robotic interventional device for minimally invasive surgical procedure is based on an operative interaction between a tracking sub-system, MRI sub-system, navigation sub-system and the robotic interventional device. The tracking sensor sub-system is integrated with the interventional device to produce tracking information corresponding to the robotic interventional device location in the operative site. The navigation sub-system integrates the tracking information with the real-time images of the operative site produced by the MRI sub-system, and displays the integrated information to a user, to enable the telemetrical control of the interventional device for performing an intended procedure (biopsy, tissue resection, etc.). The navigation sub-system, based on the integrated real-time tracking information and real-time images, calculates and dynamically updates coordinates of subsequent imaging slices.

摘要翻译： 用于微创外科手术的机器人介入装置的遥测控制基于跟踪子系统，MRI子系统，导航子系统和机器人介入装置之间的操作性交互。 跟踪传感器子系统与介入装置集成以产生对应于手术部位中的机器人介入装置位置的跟踪信息。 导航子系统将跟踪信息与由MRI子系统产生的手术部位的实时图像进行集成，并将综合信息显示给用户，以实现介入装置的遥控控制，以执行预期程序 （活检，组织切除等）。 导航子系统基于集成的实时跟踪信息和实时图像，计算并动态更新后续成像切片的坐标。