US5078140A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Imaging device - aided robotic stereotaxis system
Assignee: Individual
•
Filing: 1986-09-23
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Granted: 1992-01-07
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Expires: 2006-09-23
Abstract
Abstract An apparatus and method for computer controlled stereotactic surgery is disclosed. This method utilizes an imaging device, a robotic arm and a means for controlling the robotic arm. Stereotactic surgery on integral body parts, e.g. the brain, spine, knee or other joint, breast, etc. may be accomplished with relatively greater precision and smaller incisions. The imaging device, which may be a computerized tomography (CT) axial imaging system, a magnetic resonance imaging (MRI) device, or any suitable image-providing means, provides information regarding the structure of the bodily location to be operated on. The robotic arm is utilized to precisely orient the surgical tools or other implements used in conducting the surgery or related procedure. The control means, such as a computer, utilizes information received from the imaging device, alone or together with other information, to control the robotic arm.
Inventors
- 👤 Yik S. Kwoh
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 07:39
CPC Classifications
A; A61; A61B; A61B34/00; A61B34/30; A61B34/70; A61B17/00; A61B17/34; A61B17/3403; A61B2017/3405; A61B2017/3409; A61B34/20; A61B2034/2072; A61B34/74; A61B2034/742; A61B34/10; A61B90/00; A61B90/10; A61B90/11
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
52 words
An apparatus for conducting stereotactic surgery comprising: (1) an imaging device for generating information regarding the structure of the bodily location to be operated on; (2) a robotic arm having rotatable joints, and (3) means for controlling the robotic arm based at least in part upon information received from the imaging device.
Claim 2
Independent Claim
52 words
An apparatus for conducting stereotactic surgery comprising: (1) an imaging device for generating information regarding the structure of the bodily location to be operated on; (2) a robotic arm having rotatable joints, and (3) means for controlling the robotic arm based at least in part upon information received from the imaging device.
Claim 3
Dependent Claim
18 words
An apparatus as recited in claim 1 wherein the imaging device is a computerized tomography axial imaging system.
Claim 4
Dependent Claim
17 words
An apparatus as recited in claim 1 wherein the imaging device is a magnetic resonance imaging device.
Claim 5
Dependent Claim
15 words
An apparatus as recited in claim 1 wherein the imaging device is an ultrasound device.
Claim 6
Dependent Claim
15 words
An apparatus as recited in claim 1 wherein the imaging device is a mammograph machine.
Claim 7
Dependent Claim
16 words
An apparatus as recited in claim 1 wherein a combination of two imaging devices is employed.
Claim 8
Dependent Claim
24 words
An apparatus as recited in claim 6 wherein said imaging devices are a computerized axial tomography imaging system and a magnetic resonance imaging device.
Claim 9
Dependent Claim
23 words
An apparatus as recited in claim 1 wherein the robotic arm has an effector end to which there is affixed a probe holder.
Claim 10
Dependent Claim
15 words
An apparatus as recited in claim 8 wherein the probe holder holds a surgical implement.
Claim 11
Dependent Claim
15 words
An apparatus as recited in claim 9 wherein the surgical implement is a surgical probe.
Claim 12
Dependent Claim
14 words
An apparatus as recited in claim 9 wherein the surgical implement is a catheter.
Claim 13
Dependent Claim
18 words
An apparatus as recited in claim 1 wherein the means for controlling the robotic arm is a computer.
Claim 14
Independent Claim
71 words
A method for conducting stereotactic surgery comprising: (1) generating information regarding the structure of the bodily location to be operated on using an imaging device; (2) supplying the information generated by the imaging device to a means for controlling a robotic arm, (3) manipulating the robotic arm by the controlling means in a manner based at least in part upon the information supplied to the controlling means by the imaging device.
Claim 15
Independent Claim
71 words
A method for conducting stereotactic surgery comprising: (1) generating information regarding the structure of the bodily location to be operated on using an imaging device; (2) supplying the information generated by the imaging device to a means for controlling a robotic arm, (3) manipulating the robotic arm by the controlling means in a manner based at least in part upon the information supplied to the controlling means by the imaging device.
Claim 16
Dependent Claim
140 words
A method as recited in claim 13 wherein the means for controlling the robotic arm has been calibrated by: (a) initially driving the robotic arm in a multiplicity of predetermined directions to randomly selected points in space within the robotic arm's field of reach; (b) having the robotic arm fixedly engage, at each such point in space, a means set in place at said point to provide a precise, measured, immovable reference point at the location at which the robotic arm engages said means; (c) reading the robotic arm's rotatable joints at each such point in space to give the difference between where the robotic arm was directed to go and where it actually went, and (d) feeding these differences into a Jacobian transform matrix to supplement any positioning inaccuracies in the controlling means' initial positioning of the robotic arm.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1995-01-06 | 1995-07-08 | 1996-01-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1999-01-06 | 1999-07-08 | 2000-01-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2003-01-06 | 2003-07-08 | 2004-01-07 | $7700.00 | Window Closed / Lapsed |