MRI-guided stereotactic surgery method and MRI-compatible stereotactic surgery device
US11504188B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 22, 2019 |
| Grant date | Nov 22, 2022 |
| Priority date | — |
| Expiry date | Sep 17, 2040 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2562/182
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A MRI-guided stereotactic surgery method including the following steps: assigning coordinates of a surgery target point of a surgery cannula and an insertion direction of the surgery cannula; performing coordinate transformation to transform the coordinates of the surgery target point into an insertion position of the surgery target point; substituting the insertion position and the insertion direction into an inverse kinematics model to obtain five parameters respectively corresponding to five degrees of freedom of a MRI-compatible stereotactic surgery device; controlling the MRI-compatible stereotactic surgery device according to the parameters to start a stereotactic surgery procedure, thereby inserting the surgery cannula; obtaining an actual cannula position according to a magnetic resonance (MR) image; comparing the actual cannula position with the surgery target point to obtain an actual position vector; and withdrawing the surgery cannula to finish the stereotactic surgery procedure when the actual position vector is acceptable.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.