Robotic surgery
A method of using a robotic guidance system for performing surgery on a spine is provided. The method includes utilizing a computerized tomographic scan image of a location on a spinal column of a patient, such that the computerized tomographic scan image is connected to a computer and visible on a monitor connected to the computer. The method also includes attaching a coupling component to the spinal column of the patient, coupling a marker to the coupling component, and imaging, with a fluoroscope, the view of the spinal column of the patient, wherein the fluoroscope image is transmitted to the computer and visible on the monitor and the at marker is clearly visible in the fluoroscope image. The method also includes positioning a cannula, with a robotic mechanism, to a first position relative to a vertebra in the spinal column of the patient, drilling a passage through the cannula into bone of the vertebra in the spinal column of the patient, inserting a guidewire through the cannula into the passage in the bone of the vertebra in the spinal column of the patient, and positioning a screw into the bone of the vertebra in the spinal column of the patient.
1. A method of performing robotic surgery on a patient, comprising:
inserting an endoscope into a body of a patient, wherein the endoscope includes an imaging device coupled to a computer of a surgical robot, wherein the computer is coupled to a display;
illuminating, with a light source of the endoscope, a location within the body of the patient using the endoscope;
capturing, using the imaging device, visible light reflected from the location within the body of the patient;
generating, on the display using the computer, a first live three-dimensional image of the location within the body using a first signal generated by the imaging device based on the reflected visible light captured by the imaging device;
irradiating, with a radiation source of the endoscope, the location within the body of the patient to excite a luminescent dye at the location within the body of the patient;
capturing, using the imaging device, radiation emitted from the excited luminescent dye;
generating, on the display using the computer, a second live three-dimensional image of the location within the body using a second signal generated by the imaging device based on the radiation emitted from the excited luminescent dye captured by the imaging device, wherein the generated second live three-dimensional image replaces the generated first live three-dimensional image on the display;
viewing said generated first live three-dimensional image of the location on the display;
manipulating, using a robotic arm, tissue at the location within the body of the patient simultaneously with said viewing said generated first live three-dimensional image;
viewing, separately from said viewing said generated first live three-dimensional image, said generated second image of the location on the display; and
manipulating, using the robotic arm, tissue at the location within the body of the patient simultaneously with said viewing said generated second live three-dimensional image.
2. A method of performing robotic surgery on a patient as set forth in claim 1 , further comprising limiting a magnitude of a force applied by the robotic mechanism to tissue using the computer.
3. A method of performing robotic surgery on a patient as set forth in claim 1 , further comprising:
inserting a flexible surgical mesh into the patient's body through an incision in the patient's body, wherein the surgical mesh is rolled up configuration during insertion into the patient's body through the incision;
positioning the surgical mesh within the patient's body using the robotic mechanism positioned within the patient's body; and
securing the surgical mesh within the patient's body, after said positioning, using the robotic mechanism positioned within the patient's body.
4. A method of performing robotic surgery on a patient as set forth in claim 3 , further comprising: unrolling the surgical mesh, after said inserting, using the robotic mechanism positioned within the patient's body.
5. A method of performing robotic surgery on a patient as set forth in claim 3 , wherein said securing comprises suturing the mesh to the patient's body.
6. A method of performing robotic surgery on a patient as set forth in claim 3 , wherein said securing comprises stapling the mesh to the patient's body.
7. A method of performing robotic surgery on a patient as set forth in claim 3 , wherein the robotic mechanism includes at least one robotic arm, wherein said positioning and securing are performed using the at least one robotic arm.
8. A method of performing robotic surgery on a patient as set forth in claim 7 , wherein the robotic mechanism includes at least one surgical instrument of the at least one robotic arm, wherein the at least one surgical instrument is positioned within the patient's body, wherein said positioning and securing are performed using the at least one surgical instrument.
9. A method of performing robotic surgery on a patient as set forth in claim 3 , further comprising manipulating a robotic arm interface connected to a computer that is in turn connected to the robotic mechanism to control the robotic mechanism to perform said positioning and securing.
10. A method of performing robotic surgery on a patient as set forth in claim 3 , wherein said inserting a flexible surgical mesh comprises inserting a flexible surgical mesh through a cannula positioned in the incision.
11. A method of performing robotic surgery on a patient set forth in claim 3 , further comprising:
inserting a tissue retractor into an incision in the body of the patient, wherein the tissue retractor is in a contracted configuration during said inserting;
expanding the tissue retractor, after said inserting, to move body tissue of the patient and create space;
inserting one or more surgical instruments, which are controllable by a robot, through the tissue retractor; and
performing the robotic surgery within the patient's body using said one or more surgical instruments.
12. A method of performing robotic surgery on a patient as set forth in claim 11 , wherein said inserting one or more surgical instruments comprises inserting a plurality of surgical instruments through the tissue retractor.
13. A method of performing robotic surgery on a patient as set forth in claim 11 , wherein said inserting a plurality of surgical instruments through the tissue retractor comprises inserting the plurality of surgical instruments through a single tissue retractor.
14. A robotic system for performing robotic surgery, the robotic system comprising:
a computer;
a display coupled to the computer;
a surgical robot including a robotic arm coupled to the computer;
an endoscope insertable into a body of a patient, wherein the endoscope includes an imaging device coupled to the computer, a light source configured to illuminate a location within the body of the patient, and a radiation source configured to irradiate the location within the body of the patient to excite a luminescent dye at the location within the body of the patient,
wherein the imaging device is configured to capture visible light reflected from the location within the body of the patient, and transmit a first signal to the computer based on the captured visible light,
wherein the computer is configured to generate on the display a first live three-dimensional image of the location within the body using the first signal generated by the imaging device,
wherein the imaging device is configured to capture radiation emitted from the excited luminescent dye, and transmit a second signal to the computer based on the captured radiation,
wherein the computer is configured to generate on the display a second live three-dimensional image of the location within the body using the second signal generated by the imaging device,
wherein the computer is configured to replace the first live three-dimensional image with the second live three-dimensional image on the display,
wherein the robotic arm is configured to manipulate tissue at the location within the body of the patient simultaneously with a user viewing said generated first live three-dimensional image,
wherein the robotic arm is configured to manipulate tissue at the location within the body of the patient simultaneously with the user viewing said generated second first live three-dimensional image.
15. A method of performing robotic surgery on a patient as set forth in claim 14 , wherein the computer is configured to limit a magnitude of a force applied to the tissue by the robotic arm.