VERSATILE MULTI-ARM ROBOTIC SURGICAL SYSTEM

Abstract

A robotic surgical system comprising at least two robotic arms having co-ordinate systems known relative to each other, one of the arms carrying an X-ray source, and the other an imaging detector plate. The arms are disposed to enable an image to be generated on the region of interest of a subject. One of the arms can additionally or alternatively carry a surgical tool or tool holder, such that the pose of the tool is known in the same co-ordinate system as that of an image generated by the X-ray source and detector. Consequently, any surgical procedure planned on such an X-ray image can be executed by the tool with high accuracy, since the tool position is known in the image frame of reference. This enables the surgeon to accurately position his tool in a real-time image without the need for an external registration procedure.

Claims

1. A robotic surgical system comprising: a first robotic arm configured to carry an imager source; a second robotic arm mounted in a known position relative to the first robotic arm, and configured to carry an imager detection element, the two robotic arms mounted such that when a subject is positioned between the two arms, images of a region of interest of the subject can be generated; and wherein one of the robotic arms is further configured to carry a surgical tool or a surgical tool holder, such that the pose of the surgical tool or tool holder is known relative to the images generated of the subject.

2. A system according to claim 1, wherein the surgical tool or tool holder is carried on one of the first or second robotic arms in addition to the source or detection element.

3. A system according to claim 1, wherein the surgical tool or tool holder is carried on one of the first or second robotic arms in place of the source or detection element.

4. A system according to claim 1, wherein the robotic arm configured to carry a surgical tool or a surgical tool holder is the second robotic arm.

5. A system according to claim 1, wherein the second robotic arm is adapted to carry simultaneously, both the surgical tool or tool holder, and the detection element in a known spatial relationship.

6. A system according to claim 1, wherein the second robotic arm comprises an attachment element adapted to be attached either to the surgical tool or tool holder, or to the detection element, the attachment element being such that the spatial relationship between the surgical tool or tool holder, and the detection element is accurately known.

7. A system according to claim 1, wherein the known relationship between the tool or tool holder, and at least one of the robotic arms is configured to enable autonomous guidance of the surgical tool to a position on the images obtained by use of the first and second robotic arms, determined by a user.

8. A system according to claim 1, further comprising a third robotic arm whose co-ordinate system is co-related to those of the first and second robotic arms, and which is adapted to hold additional surgical elements.

9. A system according to claim 1, where the imager is either an X-ray imager or an ultrasound imager.

10. A robotic surgical system comprising: at least first, second and third robotic arms, the robotic arms being mutually mounted such that their co-ordinate systems are known relative to each other, at least the first and the second robotic arms being disposed on opposite sides of a support element on which a subject is to be positioned, and are configured to carry respectively an imager source and an imager detection element such that images of a portion of the subject's anatomy can be generated, wherein the third robotic arm is configured to carry a surgical tool holder or tool, such that the pose of the surgical tool or tool holder is known relative to images generated by the first and second robotic arms.

11. A robotic surgical system according to claim 10, wherein the imager is either an X-ray imager or an ultrasound imager.

12. A method of performing a surgical procedure on a region of a subject, comprising: generating at least one image including the region of the subject, by means of a source carried on a first robotic arm, and a detector element carried on a second robotic arm, the first and second robotic arms having a commonly related co-ordinate system; determining on the at least one image, a trajectory necessary for performing the procedure; and using a surgical tool carried on one of the first robotic arm or the second robotic arm or a third robotic arm to implement the procedure, after alignment of the robotic arm carrying the tool to ensure the determined trajectory on the at least one image.

13. A method according to claim 12, wherein if the surgical tool is carried on one of the first or second robotic arms, it is carried either in addition to the imager source or detector element, or is carried in place of the imager source or detector element.

14. A method according to claim 12, wherein if the surgical tool is carried on the third robotic arm, the trajectory necessary for performing the procedure is assured by virtue of the commonly related coordinate systems of the third robotic arm to those of the first and second robotic arms.

15. A method according to claim 12, wherein the procedure is performed using intraoperative alignment of the tool trajectory in at least one image generated using the imaging system having a co-ordinate system common to that of the tool.

16. (canceled)

17. (canceled)

18. (canceled)

19. (canceled)

20. The method according to claim 12, wherein determining on the at least one image, a trajectory is determined in real-time.

21. The method according to claim 12, wherein the at least one image is a three-dimensional set of images.

22. The method according to claim 20, wherein generating the at least one image is generated preoperatively and determining on the at least one image, the trajectory is determined preoperative.

23. The method according to claim 22, further comprising: registering the three dimensional set of images with at least one intraoperative two dimensional image generated by the source and the detector.

24. A system according to claim 1, further comprising: a controller configured to co-relate the co-ordinate systems of the robotic arms.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The present invention will be understood and appreciated more fully from the following detailed description, taken in conjunction with the drawings in which:

[0053] FIG. 1 shows a robotic surgical system as described in the present disclosure, showing three robotically activated, coordinated arms;

[0054] FIG. 2 shows an alternative implementation of the system of FIG. 1, in which only two robotic arms are used;

[0055] FIG. 3 shows an alternative implementation to that of FIG. 2, in which the tool or tool holder and the X-ray detector plate are both held together in the same robotic arm, their mutual position being known to the robotic control system by virtue of the known mechanical arrangement connecting them; and

[0056] FIG. 4 shows one example of the structure of the system controller with its memory unit, showing how the relationship between a robotic imaging arm and the tool holding arm is used to direct the tool to perform its required function.

DETAILED DESCRIPTION

[0057] Reference is now made to FIG. 1, which illustrates schematically a robotic surgical system as described in the present disclosure, incorporating three robotically activated arms 12, 13, 14. The arms of the system shown in FIG. 1 are mounted on separate bases 10, 11, 101, whose mutual position is known, such that they can be considered as being a single common base 103. Any other base arrangement can also be considered, provided that the positions of the attachments of the robotic arms to the base are known, such that the pose of each of the arms can be co-related to each other. Typically, the arms 13, 14, operating on the top side of the surgical bed 102, may be mounted on an upper console. The arms are controlled by a controller 104, which registers or coordinates the frame of reference of the three arms, and which may be connected to each arm and its control motors and position encoders through the base 104. The patient 18 is shown lying on a bed or operating table 102, though the system could also be used with a standing patient, or a patent in any other desired position, if suitably adapted and aligned. One pair of arms 12, 13, are shown aligned above and below the patient, with one of the arms 12 carrying an X-ray source 15, while the other arm 13, carrying an image detector plate 16. By controlling the joints of these two arms 12, 13, the X-ray source and detector plate can be aligned at any suitable angle relative to the patient's anatomy, to generate a fluoroscopic image of a desired feature of the surgical region. If two or more of such fluoroscopic images are generated, the control system of the surgical robotics suite can provide three-dimensional image data of the surgical site, which can then be used to determine the real time position of the surgical region of interest of the patient in three dimensions. Alternatively, such three dimensional information can be registered and compared with any preoperative three dimensional images on which a surgical plan has been determined, provided some sort of fiducial position feature had been used in the preoperative images.

[0058] A third robotic arm 14, can carry a surgical tool 17, or a surgical tool holder, and since the frame of reference of this third robotic arm 14 is known relative to those of the first and second arms 12,13, the position and orientation of the surgical tool is known relative to the co-ordinate system of the fluoroscopic images generated on the imager arranged on the first 12 and second 13 arms. Consequently, the relative position and progress of the surgical tool 17 during the operation can be directly related to the fluoroscopic images of the surgical site of the patient, without the need for further external registration.

[0059] According to an alternative mode of operation, once the fluoroscopic image or images have been generated to define the features of the surgical site of the patient, at least one element of the X-ray imaging equipment may be removed from its supporting robotic arm—preferably the detector plate 16 from the robotic arm 13, since that is the lighter element—and that robotic arm 13, is then free to be equipped with a surgical tool or tool holder, whose pose is known relative to the previously generated X-ray images, by virtue of the tool being attached at a known position and angle to the robotic arm 13, whose position is known relative to the X-ray images axis. Alignment and progress of the tool using the robotic control system of the robotic arm 13, can therefore be directly related to the fluoroscopic images previously obtained, without the need for any registration transformation. The third robotic arm 14, since it is no longer required to hold the tool holder or tool, can then be used to perform an additional surgical task, such as retraction or holding of the patient's tissue.

[0060] Reference is now made to FIG. 2, which shows this alternative implementation of the systems of the present disclosure, in which only two robotic arms are used—a first robotic arm 12 carrying an X-ray source 15, while the second robotic arm 13 is equipped with an adapter mount 19, which can be connected either to the X-ray sensor plate 16 by means of the matching adapter 20, or to a tool or tool holder 17, by means of the adaptor 21, the adaptors being such that the relative position of the X-ray sensor plate and the tool or tool holder are known to a high level of accuracy. In this implementation, the robotic control system 104 controls the motion of both robotic arms 12, 13. Each robotic arm is adapted to hold at least one surgical tool or other item for use during a surgical operation. The robotic arm 13 has a base 10 that could equally well be attached to the ceiling or another immobile support element in the room, or upon a control cabinet. The second robotic arm 12 is shown also attached to an immovable support element 11. The controller 104 can manipulate the movements of each robotic arm such that the position of the surgical tool or other items held and carried by each arm are known with precision relative to each other.

[0061] Reference is now made to FIG. 3, which shows an alternative implementation to that of FIG. 2, in which the tool or tool holder 17 and the X-ray detector plate 16 are both held in the robotic arm 13, their mutual position being known to the robotic control system by virtue of the known mechanical arrangement connecting them. Therefore, the position of the tool 17 relative to the imaged view of the patient generated on the detection plate 16, is accurately known. This implementation avoids the need to exchange the detector plate with the tool holder.

[0062] In any of the above described implementations, image processing of the X-ray images can be used to define the position of the patient, or anatomical features of the patient to be operated on, and the known relationship between the imaging frame of reference and the tool frame of reference, enables accurate positioning of the tool relative to the patient or the anatomical feature of the patient to be operated on. Such a system can be configured to autonomously guide a surgical tool to a position which is known on the X-ray images obtained by the system itself, without the need for any other alignment, since the frame of reference used for generating the images can be spatially and angularly related to the frame of reference in which the tool is mounted.

[0063] Reference is now made to FIG. 4, which illustrates schematically one possible structure of the control system 104, enabling the functioning of the system. The controller and system functionality uses a memory unit 41, which contains the Robotic Arm Coordinate Relationship 44, and the instructions for the operation of the Robotic Arms 45.

[0064] The processor 46 controls the entire controller operation, including input-output and calculations. The input output units include a user interface 43, a robotic arm drive interface 47, a robotic arm position sensors interface 48 and a network interface 49.

[0065] It is appreciated by persons skilled in the art that the present invention is not limited by what has been particularly shown and described hereinabove. Rather the scope of the present invention includes both combinations and subcombinations of various features described hereinabove as well as variations and modifications thereto which would occur to a person of skill in the art upon reading the above description and which are not in the prior art.