Abstract: An apparatus and method for assuring effective backup for sensor failure in robots, by utilizing a single extra sensor attached between the end actuator and the base. The single extra sensor provides absolute back-up for any single encoder failure that may occur in the system, and statistically significant back-up for any double encoder failure. A single additional sensor effectively provides the robotic system with one redundant information input to the robot control algorithm, which can be used in order to determine whether any of the other control sensors, or even the additional sensor itself, has failed and is delivering an erroneous reading, and hence to warn the operator of the failure. A single additional sensor also provides useful warning of the simultaneous failure of two sensors, since the likelihood that two sensors fail simultaneously in a mode that makes the failures undetectable, can be regarded as statistically insignificant.

Abstract: A tracking and positioning system and method to enable the precise positioning of an object or tool relative to its surgical surroundings, and in accordance with preoperative CT images of the operating site. When used for artificial spinal disc positioning, the system comprises a computing system incorporating in memory the preoperative CT data showing the two vertebrae and the predetermined disc position between them; a 3-D target having radio-opaque markers for attaching to one of the vertebrae to define the position of the vertebra in an intra-operative fluoroscope image of the spine; a tool for intra-operative insertion of the artificial disc, and a registration system for relating the intra-operative fluoroscope image to the preoperative CT data, such that the predetermined disc position is displayed in the fluoroscope image of the subject, thereby enabling the surgeon to place the artificial disc accurately in its intended position.

Abstract: A system and method for generating CT-type three dimensional imaging information from a conventional C-arm fluoroscope system. This enables the adaptation of widely used C-arm installations to provide CT-type information. The system uses a three dimensional target disposing in a fixed position relative to the subject, and obtains a sequence of video images of a region of interest of a subject while the C-arm is moved manually or by a scanning motor. Images from the video sequence are analyzed to determine the pose of the C-arm relative to the subject by analysis of the image patterns of the target. Images are selected from the video sequence according to predetermined criteria. A set of two-dimensional image data with associated positional data is obtained, which is used to reconstruct a three dimensional volumetric set of imaging data of the region of interest of the subject.

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.

Abstract: A drilling guide cannula, having a serrated distal end in the form of axially moveable teeth which enables all or most of the teeth to maintain biting contact with the bone surface, essentially independently of the curvature of the bone surface and the drilling angle. The cannula outer wall incorporates a number of pins arranged circumferentially around the drilling bore. These pins slide axially relative to the cannula, preferably in bored holes or in channels formed within the wall of the cannula. Each of the secondary pins has a sharpened distal end, each constituting a moveable tooth. The cannula is applied to the bone to be drilled at the desired drilling position and angle, and the pins are forced axially towards the bone surface. The pins take up the contour of the bone surface and each pin bites into the bone surface to rigidly position the drilling guide cannula.

Abstract: A framed device in the form of a bridge for fixing a number of vertebrae together into positions which are uniquely defined relative to the bridge, but which can move with the spine relative to the external environment. The fixation generated by such a bridge is especially useful in Computer Assisted Surgery procedures, either using manual navigation and a tracking system to follow the position of the surgeon's tools relative to the operated vertebrae, or by using a pre-programmed robot mounted on the bridge itself to perform the surgery. Alternative embodiments of the bridge may be used either for performing surgery in one procedure on a number of vertebrae of the spine, or as a reference frame for performing surgery at different locations along the spine, while providing an alignment reference along major lengths or along all of the spine.

Abstract: A system and method for performing spinal fusion using vertebral connecting rods constructed of a shape memory material, such as shape memory alloy. The connecting rod is cooled below its phase transition temperature, which is chosen to be just below body temperature, and is inserted through a curved guide tube previously inserted into the back of the patient. The guide tube is located so as to deliver the connecting rod at its desired location between the preinserted pedicle screw heads. The rod, being in its flexible state below the transition temperature, negotiates the curve and exits the guide tube in a straight form and parallel to the patient's spine. As it heats up to body temperature, it regains its original straight shape and its original rigidity, and is ready for connecting its associated vertebrae to each other.

Abstract: A miniature surgical robot and a method for using it are disclosed. The miniature surgical robot attaches directly with the bone of a patient. Two-dimensional X-ray images of the robot on the bone are registered with three-dimensional images of the bone. This locates the robot precisely on the bone of the patient. The robot is then directed to pre-operative determined positions based on a pre-operative plan by the surgeon. The robot then moves to the requested surgical site and aligns a sleeve through which the surgeon can insert a surgical tool.