Reference Navigation Equipment in Robotic Surgery Assisted by Stereotaxic Navigation of the Organs and Soft Parts of a Patient's Pelvic Area

Abstract

The present invention relates to equipment for navigation reference in assisted robotic surgery by means of stereotactic navigation of the organs and soft portions of the pelvic area of a patient, which enables coordinates fixed with respect to a reference frame to be associated to any point of the patient's anatomy in the pelvic area. The equipment comprises a fastening arc (1) with an upper bar (6), two lateral bars (7), joined to the upper bar (6) forming an arc by means of first joining means (8) and second joining means (9) configured to join the lateral bars (7) to a surgical table, two arms (2) joined to the lateral bars (7) by means of third fastening means (10), a first reference device (3) and a second reference device (15) configured to be placed in the surgical instrumentation of the robot.

Claims

1. Equipment for navigation reference in assisted robotic surgery by means of stereotactic navigation of the organs and soft portions of the pelvic area of a patient with surgical instrumentation installed in a robot, characterised in that it comprises: a fastening arc (1), made of radiotransparent material, configured to be joined to a surgical table whereon the patient is placed and which in turn comprises: an upper bar (6) contained in a plane parallel to the surface of the table, two lateral bars (7) joined to the upper bar (6) forming an arc over the table, by means of first joining means (8) which have the possibility of movement along the lateral bars (7) and the upper bar (6); second joining means (9) configured to join the lateral bars (7) to the table with the possibility of tilting around said second joining means (9) in order to regulate the inclination of the lateral bars (7) with respect to the table; two arms (2), made of radiotransparent material, joined to the lateral bars (7) by means of third fastening means (10) which have the possibility of movement along the lateral bars (7), the possibility of rotation with respect to said lateral bars (7) and which comprise a ball joint configured to enable the tilting of the arms (2) with respect to the longitudinal axis of the lateral bars (7), and each arm (2) comprises an adapter (4) on the free end thereof configured to be temporarily anchored to the patient; a first reference device (3) comprising a mobile part (5) joined to the upper bar (6) with the possibility of movement along it and the possibility of rotation around said upper bar (6) and comprises at least one first reference mark detectable by a navigator of the robot; a second reference device (15) configured to be placed in the surgical instrumentation of the robot by means of a fastening device in the surgical instrumentation (14) and comprises at least one second reference mark detectable by the navigator of the robot for triangulating the spatial position of the first reference device (3).

2. The equipment according to claim 1, characterised in that the radiotransparent material is titanium.

3. The equipment according to claim 1, characterised in that the second fastening means (9) are mounted on a slider (11) which has the possibility of movement on a rail (12) configured to be joined to the table such that said second fastening means (9) have the possibility of movement on the rail (12).

4. The equipment according to claim 1, characterised in that the arms (2) can be extended by means of a bar (13) which has the possibility of movement from the lateral bars (7) to determine the length of the arms (2).

5. The equipment according to claim 4, characterised in that the bars (13) have the possibility of rotation with respect to the lateral bars (7).

6. The equipment according to claim 1, characterised in that the adapters (4) can be extended by means of a bolt (16) which has the possibility of movement from the arm (2) in order to determine the length of the adapter (4).

7. The equipment according to claim 6, characterised in that the adapters (4) comprise at least one threaded pin, a screw or another fastening element configured to be anchored to the patient.

8. The equipment according to claims 6 and 7, characterised in that the at least one threaded pin, a screw or another fastening element configured to be anchored to the patient is arranged on one end of the bolt (16).

Description

DESCRIPTION OF THE DRAWINGS

[0023] As a complement to the description provided below, and for the purpose of helping to make the features of the invention more readily understandable, in accordance with a practical preferred embodiment thereof, said description is accompanied by a set of drawings which, by way of illustration and not limitation, represent the following:

[0024] FIG. 1 shows a perspective view of the fastening arc, the arms and the first reference device of the equipment for navigation reference in assisted robotic surgery by means of stereotactic navigation of the organs and soft portions of the pelvic area of a patient.

[0025] FIG. 2 shows a front view of the fastening arc, the arms and the first reference device.

[0026] FIG. 3 shows a top view of the fastening arc, the arms and the first reference device.

[0027] FIG. 4 shows a perspective view of the equipment with the components thereof in a position wherein the adapters of the arms are joined to the hip of a patient.

[0028] FIG. 5 shows a lateral view of the fastening arc, the arms and the first reference device in the position of FIG. 4 wherein the adapters of the arms are joined to the hip of a patient.

[0029] FIG. 6 shows a perspective view of the equipment and of the robotic arm wherein the second reference device is found.

[0030] FIG. 7 shows a zoomed-in view of one of the arms with the corresponding adapter thereof and the movements of the elements of said arms have been represented with arrows.

PREFERRED EMBODIMENT OF THE INVENTION

[0031] An exemplary embodiment of the invention is described below with help from FIGS. 1 to 7.

[0032] More specifically, it proposes equipment for navigation reference in assisted robotic surgery by means of stereotactic navigation of the organs and soft portions of the pelvic area of a patient with surgical instrumentation installed in a robot.

[0033] FIG. 1 shows a perspective view of the equipment of the invention joined to a table whereon a patient to be operated on is placed.

[0034] The equipment comprises a fastening arc (1) configured to be joined to a surgical table whereon the patient is placed, at least two arms (2) joined to the fastening arc (1) configured to be joined to the patient and reference marks by means of which the navigation of the robot is controlled.

[0035] The most important features of the present invention are what enable the correct movement of the robot without there being mishaps with the equipment, which also does not interfere with the scanning equipment and which is completely adaptable to the measurements of the table and of the patient.

[0036] To do so, the fastening arc comprises, as seen in FIG. 2, an upper bar (6) contained in a plane parallel to the surface of the table, two lateral bars (7), joined to the upper bar (6) forming an arc over the table and first joining means (8) and second joining means (9).

[0037] The first joining means (8) are linked to the lateral bars (7) and to the upper bar (6) in order to join them. They have the possibility of movement along the upper bar (6) until the fastening thereof in a position adapted to the width of the table wherein the equipment is fastened and they have the possibility of movement along the lateral bars (7) until the fastening thereof in a point corresponding to a height adapted to the position of the pelvis of the patient on the table.

[0038] The second joining means (9) are configured to join the lateral bars (7) to the table with the possibility of tilting of the lateral bars (7) around the axial axis of said second joining means (9), in order to regulate the inclination of the lateral bars (7) with respect to the table.

[0039] It can also be seen, for example in FIG. 3, that the arms (2) are joined to the lateral bars (7) of the fastening arc (1) by means of third fastening means (10) which have the possibility of movement along the lateral bars (7), with the possibility of rotation with respect to said lateral bars (7). Furthermore, said third fastening means (10) comprise a ball joint configured to enable the tilting of the arms (2) with respect to the longitudinal axis of the lateral bars (7), and each arm comprises an adapter (4) on the free end thereof configured to be temporarily anchored to the patient. The joining of the adapters (4) to the pelvis of the patient just as it stays in the position wherein the equipment is used can be seen for example in FIGS. 1 to 3.

[0040] The equipment also comprises a first reference device (3) comprising a mobile part (5) joined to the upper bar (6) with the possibility of movement along said upper bar (6). It also has the possibility of rotation around the upper bar (6) and comprises at least one first reference mark detectable by a navigator of the robot.

[0041] Likewise, the equipment comprises a second reference device (15) configured to be placed in the surgical instrumentation arranged in the robotic arm (17) of the robot by means of a part for fastening to the surgical instrument (14). Said second reference device comprises at least one second reference mark detectable by the navigator of the robot. The first reference mark and the second reference mark enable the spatial position of the first reference device (3) with respect to the anatomy of the patient to be triangulated with the navigator of the robot. FIG. 6 shows a zoomed-in view of the second reference device (15) and the part for fastening to the surgical instrumentation.

[0042] As described previously, an essential feature of the invention is that the equipment does not interfere with the scanning equipment. This is thanks to the fact that the fastening arc (1) and the arms (2), with the corresponding fastening means thereof, are made of a radiotransparent material. Preferably, said material is titanium.

[0043] Furthermore, in order to ensure a correct fastening of the adapters (4) to the anatomy of the patient, they comprise at least one threaded pin, a screw or another fastening element configured to be anchored to the patient.

[0044] FIGS. 4 and 5 show views of the equipment or a portion of it, perspective and lateral views respectively, as it would be in the final position thereof, joined to the table and to the body of the patient. The high versatility of the equipment can be clearly seen which, thanks to the degrees of freedom of each of the components and fastening means thereof, can be adapted to different table measurements and patient anatomy sizes.

[0045] In an exemplary embodiment, like the one shown in said FIG. 5, the second fastening means (9) are mounted on a slider (11) which has the possibility of movement on a rail (12) configured to be joined to the table. Thus, said second fastening means (9) have the possibility of movement on the rail (12).

[0046] FIG. 6 shows a perspective view of the equipment and of the robotic arm (17) by means of which the operation is performed. In this case, the hip of the patient to which the adapters (4) of the arms (2) are joined can be seen. In order to facilitate the understanding of the invention, the patient is also represented, by dotted lines, in the position wherein they would be during the operation.

[0047] In an exemplary embodiment, the arms (2) can be extended by means of a bar (13) which has the possibility of movement from the lateral bars (7) to determine the length of the arms (2). This embodiment can be seen for example in FIG. 7. Preferably, said bars (13) have the possibility of rotation with respect to the lateral bars (7).

[0048] Likewise, also preferably, the adapters (4) can be extended by means of a bolt (16) which has the possibility of movement from the arm (2) in order to determine the length of the adapter (4). In the case of the adapters (4) comprising at least one threaded pin, a screw or another fastening element configured to be anchored to the patient, it is arranged on one end of the bolt (16).