Robotic device and system software, hardware and methods of use for image-guided and robot-assisted surgery
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| Název: | Robotic device and system software, hardware and methods of use for image-guided and robot-assisted surgery |
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| Patent Number: | 9,855,103 |
| Datum vydání: | January 02, 2018 |
| Appl. No: | 14/011574 |
| Application Filed: | August 27, 2013 |
| Abstrakt: | Provided herein are systems, modules and methods of using the same for in-situ real time imaging guidance of a robot during a surgical procedure. The systems comprise a plurality of modules that intraoperatively link an imaging modality, particularly a magnetic resonance imaging modality, a medical robot and an operator thereof via a plurality of interfaces. The modules are configured to operate in at least one computer having a memory, a processor and a network connection to enable instructions to generally control the imaging modality, track the robot, track a tissue of interest in an area of procedure, process data acquire from imaging modality and the robot and visualize the area and robot. Also provided are non-transitory computer-readable data storage medium storing computer-executable instructions comprising the modules and a computer program produce tangibly embodied in the storage medium. |
| Inventors: | University of Houston System (Houston, TX, US) |
| Assignees: | UNIVERSITY OF HOUSTON SYSTEM (Houston, TX, US) |
| Claim: | 1. A magnetic resonance image-guided and robot-assisted surgical system, comprising: at least one computer processor; at least one computer memory; one or more robotic structures comprising a system registrable robot and/or an interventional tool; a magnetic resonance scanner registered with the robot; a plurality of modules configured for on-the-fly operation with the computer processor and memory that enable processor-executable instructions to: collect and store MR-generated data about the robot and a tissue of interest in a patient; establish a tissue boundary in an area of procedure; dynamically monitor motion of the tissue boundary via the MR scanner disposed inside or outside a patient's body, using at least one signal intensity projection wherein the MR scanner tracks fiducial markers which are turned on, and wherein different fiducial markers are turned on and off dependent on the robot and/or tool position, and wherein the MR scanner monitors tissue-to-tissue or tissue-to-robot boundaries by: exciting the tissue contained in at least a 3D column along a selected direction of the projection via radiofrequency pulsing, described, in an acquisition protocol, with the instance the pulse is applied, the type or shape of the pulse, the phase and the strength of the pulse; and manipulating a magnetic field gradient, described with the spatial orientation of the gradient pulse, the instance it is applied, its shape, strength and duration of magnetic field gradient pulses; acquiring raw data from the MR scanner; and generating a 1D projection of the signal intensity from the raw data; and wherein the processor-executable instructions are further enabled to: track a location of the robot or tool in reference to the area of procedure; transmit the generated data to an operator of the system; generate instructions for robot control and tracking from the generated data; generate a view of the area of procedure and the robot during the surgical procedure for the operator; and wherein the robot, the scanner, the modules and the operator communicate through a series of interfaces. |
| Claim: | 2. The system of claim 1 , wherein the plurality of modules are further configured to enable processor-executable instructions to generate and visualize a 4D view of the area of the procedure from data acquired via the multi-modal sensors. |
| Claim: | 3. The system of claim 2 , wherein the scanner is co-registered with a coordinate system. |
| Claim: | 4. The system of claim 1 , wherein the steps of generating instructions for robot control and tracking and generating a view of the area of procedure and the robot during the surgical procedure further include the steps of: process data about a status of the tissue and of the robot; calculate changes thereto; identify, algorithmically, events that trigger a change in data acquisition via instructions to compare the changes to a list of range-of-form values; select a response to the event and devise an MR image acquisition strategy based thereon; and transmit the MR image acquisition strategy to the MR scanner. |
| Claim: | 5. The system of claim 1 , wherein the instructions to establish a tissue boundary operate to: infuse, optionally, an exogenous contrast agent into the tissue; select MR imaging sequences and set parameters to generate contrast differences within the tissue; and generate the tissue boundary from one or more image projections obtained during magnetic resonance imaging. |
| Claim: | 6. The system of claim 1 , wherein the on/off status of the markers are co-registered with a coordinate system of the MR scanner; and motion filtering is applied to constrain robot motion. |
| Claim: | 7. The system of claim 6 , wherein the coordinates of the markers relative to the coordinate system of the MR scanner are identified to detect locations thereof; wherein only a single marker location is detected for a localization step during robot tracking. |
| Claim: | 8. The system of claim 1 , wherein manual control by the operator of the robot or the MR scanner is enabled. |
| Claim: | 9. The system of claim 1 , wherein if more than one 3D column is included in a plane, the modules send a plurality of radiofrequency pulses and magnetic field gradient pulses so that the signal intensity profiles of all columns included in the plane are detected during the MR scanner data acquisition. |
| Claim: | 10. The system of claim 1 , wherein the MR scanner can image natural tubular structures comprising the patient's body and artificial tubular structures. |
| Claim: | 11. The system of claim 10 , wherein the instructions to image natural and/or artificial tubular structures with the MR scanner operate to: generate contrast in the form of signal difference between the natural and/or artificial tubular structures and the background tissue or matrix, by performing the following steps: infuse or load a contrast agent into the tubular structure or modify the MR signal of the tubular structure, and eliminate or suppress the MR signal from background tissue or matrix; acquire at least two 2D projections of the tubular structure containing 3D volumes that contain the structure with contrast agent; and generate a 3D image from the 2D projections. |
| Claim: | 12. The system of claim 11 , wherein when at least two 2D projections are acquired, and said projections are at any angle relative one to another. |
| Claim: | 13. The system of claim 11 , wherein a selected sequence of radiofrequency pulses and magnetic field gradient pulses is used to acquire the 2D projection. |
| Claim: | 14. The system of claim 1 , wherein the instructions for robot control operate to enable manual operator or automated control of the MR scanner for acquisition of the 2D projections under MR image-guidance. |
| Claim: | 15. A non-transitory computer-readable data storage medium storing computer executable instructions comprising the plurality of modules of claim 1 . |
| Claim: | 16. A computer program product, tangibly embodied in the non-transitory computer readable medium of claim 15 . |
| Claim: | 17. A magnetic resonance image-guided and robot-assisted surgical system, comprising: at least one computer processor; at least one computer memory; one or more robotic structures comprising a system registrable robot and/or an interventional tool tools comprising the same; a magnetic resonance scanner registered with the robot; a plurality of modules configured for on-the-fly operation with the computer processor and memory that enable processor-executable instructions to: collect and store MR-generated data about the robot and a tissue of interest in a patient; establish a tissue boundary in an area of procedure; dynamically monitor motion of the tissue boundary via the MR scanner disposed inside or outside a patient's body, and wherein the MR scanner tracks fiducial markers which are turned on, and wherein different fiducial markers are turned on and off dependent on the robot and/or tool position; track a location of the robot or tool in reference to the area of procedure; transmit the generated data to an operator of the system; generate instructions for robot control and tracking from the generated data wherein the instructions for robot control operate, via manual operator control, to select at least one plane, at least one projection axis and at least one projection width; and, to select, concomitantly, 3D projection columns and group the same; and, wherein the instructions for robot control operate, via automatic control, to: calculate magnetic resonance imaging acquisition parameters comprising pulse gradient timing, strength and duration of magnetic field gradient strength pulses; and, sequentially: update the acquisition parameters; acquire, dynamically, and analyze the projections; and generate a dynamic tissue model; and calculate a dynamic corridor and trajectory by which to control the robot and/or guide the tool; calculate a dynamic rendering of a haptic device; produce an augmented reality of image guidance therefrom, and wherein the processor-executable instructions are further enabled to: generate a view of the area of procedure and the robot during the surgical procedure for the operator; and establish a plurality of interfaces among the robot, the scanner, the modules and the operator, which communicate through the interfaces. |
| Claim: | 18. A non-transitory computer-readable data storage medium storing computer executable instructions comprising the plurality of modules of claim 17 . |
| Claim: | 19. A computer program product, tangibly embodied in the non-transitory computer readable medium of claim 18 . |
| Claim: | 20. The system of claim 17 , wherein the processor-executable instructions are enabled to generate and visualize a 4D view of the area of the procedure from data acquired via multi-modal sensors. |
| Claim: | 21. The system of claim 20 , wherein the MR scanner is co-registered with a coordinate system. |
| Claim: | 22. The system of claim 17 , wherein the steps of generating instructions for robot control and tracking and generating a view of the area of procedure and the robot during the surgical procedure further include the steps of: process data about a status of the tissue and of the robot; calculate changes thereto; identify, algorithmically, events that trigger a change in data acquisition via instructions to compare the changes to a list of range-of-form values; select a response to the event and devise an MR image acquisition strategy based thereon; and transmit the MR image acquisition strategy to the MR scanner. |
| Claim: | 23. The system of claim 17 , wherein the instructions to establish a tissue boundary operate to: infuse, optionally, an exogenous contrast agent into the tissue; select MR imaging sequences and set parameters to generate contrast differences within the tissue; and generate the tissue boundary from one or more image projections obtained during magnetic resonance imaging. |
| Claim: | 24. The system of claim 17 , wherein the on/off status of the markers are co-registered with a coordinate system of the MR scanner; and motion filtering is applied to constrain robot motion. |
| Claim: | 25. The system of claim 17 , wherein the coordinates of the markers relative to the coordinate system of the MR scanner are identified to detect locations thereof; wherein only a single marker location is detected for a localization step during robot tracking. |
| Claim: | 26. The system of claim 17 , wherein manual control by the operator of the robot or the MR scanner is enabled. |
| Claim: | 27. The system of claim 17 wherein if more than one 3D column is included in a plane, the modules send a plurality of radiofrequency pulses and magnetic field gradient pulses so that the signal intensity profiles of all columns included in the plane are detected during the MR scanner data acquisition. |
| Claim: | 28. The system of claim 17 , wherein MR scanner can image natural tubular structures including the patient's body and artificial tubular structures. |
| Claim: | 29. The system of claim 28 , wherein the instructions to image natural and/or artificial tubular structures with the MR scanner operate to: generate contrast in the form of signal difference between the natural and/or artificial tubular structures and the background tissue or matrix, by performing the following steps: infuse or load a contrast agent into the tubular structure, or modify the MR signal of the tubular structure, and eliminate or suppress the MR signal from background tissue or matrix; acquire at least two 2D projections of the tubular structure containing 3D volumes that contains the structure with contrast agent; and generate a 3D image from the 2D projections. |
| Claim: | 30. The system of claim 29 , wherein when the two 2D projections are acquired, said projections are at an angle relative to one another. |
| Claim: | 31. The system of claim 29 , wherein a selected sequence of radiofrequency pulses and magnetic field gradient pulses is used to acquire the 2D projection. |
| Claim: | 32. The system of claim 17 , wherein the instructions for robot control operate to enable manual operator or automated control of the MR scanner for acquisition of the 2D projections under MR image-guidance. |
| Patent References Cited: | 2003/0233039 December 2003 Shao et al. 2004/0009459 January 2004 Anderson 2005/0177054 August 2005 Yi 2008/0161677 July 2008 Sutherland 2008/0287783 November 2008 Anderson 2011/0107270 May 2011 Wang 2007005367 January 2007 |
| Primary Examiner: | Chao, Elmer |
| Attorney, Agent or Firm: | Mirabel, Eric P. |
| Přístupové číslo: | edspgr.09855103 |
| Databáze: | USPTO Patent Grants |
| Abstrakt: | Provided herein are systems, modules and methods of using the same for in-situ real time imaging guidance of a robot during a surgical procedure. The systems comprise a plurality of modules that intraoperatively link an imaging modality, particularly a magnetic resonance imaging modality, a medical robot and an operator thereof via a plurality of interfaces. The modules are configured to operate in at least one computer having a memory, a processor and a network connection to enable instructions to generally control the imaging modality, track the robot, track a tissue of interest in an area of procedure, process data acquire from imaging modality and the robot and visualize the area and robot. Also provided are non-transitory computer-readable data storage medium storing computer-executable instructions comprising the modules and a computer program produce tangibly embodied in the storage medium. |
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