System and method for robotic surgical intervention in a magnetic resonance imager

Abstract

A system and method for image guided assisted medical procedures using modular units, such that a controller, under the direction of a computer and imaging device, can be utilized to drive and track low cost, purpose specific manipulators. The system utilizes modular actuators, self tracking, and linkages. The systems can be optimized at a low cost for most effectively performing surgical procedures, while reusing the more costly components of the system, e.g. the control, driving, and tracking systems. The system and method may utilize MRI real time guidance during the above procedures.

What is claimed is: 
     
         1 . A modular system for image guided assisted medical procedure, the system comprising: a manipulator for a specific medical procedure;
 a controller connected to said manipulator and directing at least one motion thereof, said controller also capable of directing at least one other manipulator; an imaging device enabling visualization of a tissue at said specific medical procedure; and   a computer connected to said imaging device and said controller,
 wherein the computer collects and processes images from said imaging device and instructs said controller to direct said manipulator. 
   
     
     
         2 . The system of  claim 1 , wherein said medical procedure is a surgical procedure. 
     
     
         3 . The system of  claim 2 , wherein said surgical procedure is a deep brain stimulation procedure. 
     
     
         4 . The system of  claim 2 , wherein said surgical procedure is performed in the presence of an MRI scanner. 
     
     
         5 . The system of  claim 4 , wherein at least part of the surgical procedure is performed within the MRI scanner. 
     
     
         6 . The system of  claim 5 , wherein interactively updated MRI images are used to guide the image guided assisted system. 
     
     
         7 . A modular system for image guided robotic assisted medical procedure, the system comprising:
 a manipulator for performing a deep brain stimulation procedure;   a controller connected to said manipulator and directing at least one motion thereof, said controller also capable of directing at least one other manipulator;   an imaging device enabling visualization of a tissue at said deep brain stimulation procedure; and   a computer connected to said imaging device and said controller,
 wherein the computer collects and processes images from said imaging device and instructs said controller to direct said manipulator. 
   
     
     
         8 . The system of  claim 7 , wherein the imaging device is an MRI scanner. 
     
     
         9 . The system of  claim 8 , wherein the manipulator is designed to operate in the MRI environment. 
     
     
         10 . The system of  claim 9 , wherein the manipulator is designed to operate with a minimal degradation of MRI image quality. 
     
     
         11 . A method for image guided robotic assisted medical procedure, the method comprising:
 identifying an area of a body for a medical procedure;   defining at least one motion of an instrument, said at least one motion being required for performing the medical procedure;   assembling a manipulator adapted for said medical procedure, said assembling comprising identifying linkages for performing said at least one motion, and selecting actuators and sensors for connecting to said linkages for controlling movements thereof; and   connecting said manipulator to a controller capable of directing said manipulator, said controller also capable of directing at least one other manipulator.   
     
     
         12 . The method of  claim 11 , wherein the medical procedure is deep brain stimulation lead placement. 
     
     
         13 . The method of  claim 11 , wherein the manipulator encompasses an actuator module and an end effector. 
     
     
         14 . The method of  claim 11 , wherein at least part of the manipulator is application specific. 
     
     
         15 . The method of  claim 14 , wherein at least part of the manipulator is patient specific. 
     
     
         16 . The method of  claim 11 , wherein the method is designed to operate in an MRI scanner environment.