Image guided robotic system for keyhole neurosurgery

US9492241B2 · kind B2 · utility

Assignee

• Mazor Robotics Ltd. · IL

Inventors

• Leo Joskowicz · Jerusalem, IL
• Moshe Shoham · Hoshaya, IL
• Reuven Ruby Shamir · Haifa, IL
• Moti Freiman · Netanya, IL
• Eli Zehavi · Tel Aviv-Yafo, IL
• Yigal Shoshan · Mevaseret Tsiyon, IL

Key dates

• Filing date: Jan 12, 2006
• Grant date: Nov 15, 2016
• Expiry date: Feb 3, 2028

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/373
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A novel image-guided system for precise automatic targeting in minimally invasive keyhole neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle, probe, or catheter insertion. Intraoperative, the robot is directly affixed to a head clamp or to the patient skull. It automatically positions itself with respect to predefined entry points and targets in a preoperative CT/MRI image following an anatomical registration with an intraoperative 3D surface scan of the patient facial features and a registration jig. The registration procedure is a novel three-way scheme, in which the intraoperative surface scan including the registration jig is matched to a model generated from the preoperative CT/MRI image, the robot position is known in relation to the registration jig, and the entry and target points are known from the preoperative CT/MRI image, such that the robot position can be related to the entry and target points.