Robotic system and method for spinal and other surgeries
The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.
1. A method of performing surgery comprising:
providing a robotic surgical system having:
a robot comprising an end-effector for holding a surgical tool for use in a surgical procedure;
a controller for controlling the position of the end-effector, wherein the end-effector is adapted to be manually and freely positioned by the surgeon during the operation; and
a measurement system with a computer processor for:
measuring, by the processor a position of the surgical tool held by the end effector and a position of a bone of a patient;
determining by the processor a change in the position of the bone; and
automatically adjusting via the robot the position of the end effector based at least in part on the determined change in the position of the bone such that a spatial relationship between the end effector and the bone remains substantially unaltered as at least a portion of the operation is performed, thereby ensuring the surgical tool remains aligned with a predetermined path;
performing a surgical procedure with the surgical tool.
2. The method of claim 1 , wherein the robot is configured to allow positioning of the surgical tool by the surgeon with at least four degrees of freedom.
3. The method of claim 1 , wherein the position of the bone is a position of a marker placed in spatial relation to the bone.
4. The method of claim 1 , wherein the measurement system is an optical tracking system comprising a camera, fixed measurement system, or template-based tracking system.
5. The method of claim 4 , wherein the measurement system comprises a first marker attached to the robotic surgical system and a second marker attached to the patient.
6. The method of claim 1 , comprising a force sensor for measuring forces on the surgical tool.
7. The method of claim 6 , wherein the force sensor is mounted on the end-effector.
8. The method of claim 1 , wherein the robotic surgical system comprises a display for providing graphical feedback to the surgeon regarding the predetermined path in relation to the bone.
9. The method of claim 1 , wherein the surgical tool includes a tube configured to be held by the end-effector.
10. The method of claim 1 , wherein the robotic surgical system comprises a passive structure that rigidly holds the robot in place.
11. The method of claim 1 , wherein the measurement system provides real-time patient and robot position measurements and position tracking.
12. The method of claim 1 , wherein the controller is arranged such that the surgeon can manually and freely position the robot in space using hands-on control.
13. The method of claim 1 , wherein the controller permits gross manual positioning of the end-effector.
14. The method of claim 1 , wherein the robot comprises a passive structure.
15. The method of claim 14 , wherein the passive structure is adapted to be manually and freely positioned by the surgeon during the operation.
16. The method of claim 15 , wherein the passive structure is adapted to be blocked by the surgeon such that the robot is rigidly held in place.
17. The method of claim 15 , wherein the optical tracking system comprises a pointer that can be used to measure a single point in space.
18. A method of performing a surgical procedure comprising the steps of:
providing a robotic surgical system having:
a robot comprising an end-effector for holding a surgical tool for use in a surgical procedure, wherein the end-effector can be manually and freely positioned by the surgeon during the operation in a first mode and controlled by the robot in a second mode; and
a measurement system with a computer processor for:
measuring, by the processor a position of the surgical tool held by the end effector and a position of a bone of a patient;
determining by the processor a change in the position of the bone or the position of the end effector based on optical tracking markers positioned on the bone or the end effector;
wherein the robot automatically adjusts the position of the end effector based on a pre-planned path;
performing a surgical procedure with the surgical tool.
19. The robotic surgical system of claim 18 , wherein the robot automatically provides a force on a haptic device and prevents the surgeon from contacting an unsafe portion of the patient, when in the first mode.
20. The robotic surgical system of claim 18 , wherein the robot is controlled to remain within a stay-in zone and cannot be moved outside the stay-in zone during an operation in the first mode or the second mode.