Mazor Robotics Ltd.
MULTI-ARM ROBOTIC SYSTEM ENABLING MULTIPORTAL ENDOSCOPIC SURGERY

Abstract:

A system for endoscopic surgery, comprising a first robotic arm defining the pose of an endoscopic camera, a second robotic arm defining the pose of a surgical end effector, and an irrigation nozzle configured to inject fluid under a predetermined pressure into a preselected tissue region, to generate a cavity at a surgical site. The cavity enables the camera to take images of the features of the surgical site. A controller is used to control both robotic arms, such that the pose of the endoscopic camera and the pose of the surgical end effector are known to the controller. The camera can then acquire intraoperative images of the cavity, such that an endoscopic operation can be performed in the cavity with the surgical end effector guided using the intraoperative images. Anatomic features imaged intraoperatively by the camera can be identified from preoperative images, using image registration.