System for image-based robotic surgery

摘要

A robotic surgery system includes a robotic arm fixed relative to an operating room. The robotic arm comprises a mounting fixture configured to be coupled to a first element of a fluoroscopic imaging system, wherein the first element is one of a source element and a detector element. The system further includes a second element of the imaging system, wherein the second element is the other of the source element and the detector element. The second element is configured to be repositionable relative to the first element and relative to a patient tissue structure. The system further includes a controller operatively coupled to the robotic arm, configured to receive signals from a sensing system. The sensing system detects motion of one or more sensor elements coupled to each of the first and second elements and determine a relative spatial positioning between the elements of the fluoroscopic imaging system.

主权项

1. A robotic surgery system, comprising:
a robotic arm coupled to a base fixed relative to an operating room, wherein the robotic arm comprises a mounting fixture configured to be coupled to a first element of a fluoroscopic imaging system comprising a source element and a detector element, wherein the first element is one of the source element and the detector element; a second element of the fluoroscopic imaging system, wherein the second element is the other of the source element and the detector element, the second element configured to be repositionable relative to the first element of the fluoroscopic imaging system and relative to a patient tissue structure such that the patient tissue structure may be positioned between the first and second elements of the fluoroscopic imaging system; a controller operatively coupled to the first robotic arm, the controller configured to receive signals from a sensing system operatively coupled to the controller, the sensing system configured to detect motion of one or more sensor elements coupled to each of the first and second elements of the fluoroscopic imaging system and determine a relative spatial positioning between each of the first and second elements of the fluoroscopic imaging system; and a user interface configured to allow for an operator to select a desired geometric relationship between the first and second elements relative to the patient tissue structure.