Miniature bone-attached surgical robot

Abstract

A miniature surgical robot and a method for using it are disclosed. The miniature surgical robot attaches directly with the bone of a patient. Two-dimensional X-ray images of the robot on the bone are registered with three-dimensional images of the bone. This locates the robot precisely on the bone of the patient. The robot is then directed to pre-operative determined positions based on a pre-operative plan by the surgeon. The robot then moves to the requested surgical site and aligns a sleeve through which the surgeon can insert a surgical tool.

1 . A surgical system, comprising: a surgical robot for manipulating a surgical tool to a surgical site with precise positioning during a surgical procedure; an attachment member configured and dimensioned to attach the surgical robot to a bone associated with said surgical site; and a controller programmed prior to said surgical procedure to direct the robot to position the surgical tool at the surgical site.  
   
   
       2 . The surgical system according to  claim 1 , wherein said robot comprises: a base member; at least four actuators extending outward from the base member at fixed angles, said actuators being arranged in cooperating pairs, said pairs together defining a spherical joint at cooperating ends opposite the base member, and a surgical tool held by said spherical joints.  
   
   
       3 . The surgical system according to  claim 2 , wherein said surgical tool comprises at least one of a tool guide, a cutting member and a drilling member.  
   
   
       4 . The surgical system according to  claim 2 , wherein said actuators define a longitudinal axis and are configured to provide only translational movement along said axis.  
   
   
       5 . The surgical system according to  claim 2 , wherein surgical site lies at least approximately within a defined plane and said surgical robot is configured and dimensioned such that said base member is at least approximately perpendicular to said defined plane.  
   
   
       6 . The surgical system according to  claim 1 , wherein said robot comprises a miniature parallel robot.  
   
   
       7 . A surgical system of  claim 1 , wherein said robot comprises at least 3 actuators mounted on a base member, said actuator being configured for at least translational or rotational movement.  
   
   
       8 . The surgical system according to  claim 1 , wherein said attachment member comprises a robot receiving adaptor mounted on a bone attachment portion.  
   
   
       9 . The surgical system according to  claim 8 , wherein said bone attachment portion comprises a clamp having at least two jaws shaped to mate with a specific bone configuration.  
   
   
       10 . The surgical system according to  claim 8 , wherein said bone attachment portion comprises at least one wire configured and dimensioned to be received in bone holes.  
   
   
       11 . The surgical system according to  claim 1 , wherein said controller comprises a cpu and user interface communicating with said robot, said cpu containing a program for guiding the robot based on data generated from surgical site images.  
   
   
       12 . The surgical system according to  claim 11 , wherein said surgical site images are created prior to each surgical procedure requiring a new location for the support member.  
   
   
       13 . A surgical system for facilitating a surgical procedure at a surgical site, comprising: a surgical robot including a base member; two pairs of actuators extending outward from the base member at fixed angles, wherein said actuators each have first and second ends, said first ends of a pair being spaced apart on said base member and said second ends of a pair coming together to define a tool holding element; an attachment member removably securable to the robot base member and configured and dimensioned to attach the surgical robot to a bone associated with said surgical site; and a controller including a cpu and user interface communicating with said robot, said cpu containing a program for guiding the robot based on data generated from surgical site images created prior to said surgical procedure.  
   
   
       14 . A method for facilitating a surgical procedure at a patient surgical site, comprising: generating an initial three dimensional image of a patient surgical site; planning the surgical procedure utilizing said initial three dimensional image prior to conducting said procedure to provide a surgical plan referencing said initial three dimensional image; attaching at least a support member of a surgical robot to a patient bone associated with the planned surgical procedure at the surgical site; generating at least two radiographic images of the surgical site and support member; correlating said radiographic images to form a pseudo three dimensional image including an accurate position of said support member attached to the bone; selecting a window from said pseudo three dimensional image and registering said window with a similarly chosen window from said initial three dimensional image; and correlating the pseudo three dimensional image with the initial three dimensional image such that the support member is located with respect to the surgical plan.  
   
   
       15 . The method according to  claim 14 , wherein said window is selected approximately adjacent the support member.  
   
   
       16 . The method according to  claim 14 , wherein: said generating an initial three dimensional image comprises at least one of magnetic resonance imaging, CT, or Ultrasound; and said generating one radiographic image comprises C-arm imaging.  
   
   
       17 . The method according to  claim 16 , wherein said at least two C-arm images are taken from angles 90 degrees apart from each other.  
   
   
       18 . The method according to  claim 14 , further comprising: attaching a imaging referencing plate with at least three reference markers located thereon to said support member; and calibrating the radiographic images based on said reference markers prior to generating said radiographic image of the surgical site.  
   
   
       19 . The method according to  claim 14 , further comprising: mounting a surgical robot on said support member, said robot including at least one known reference dimension; and calibrating the radiographic images based on said reference dimension prior to generating said radiographic image of the surgical site.  
   
   
       20 . The method according to  claim 14 , wherein said correlating the pseudo three dimensional image with the initial three dimensional image comprises registering the remaining portions other than said window of said pseudo three dimensional image with the remaining portions other than said window of said three dimensional image.