METHOD FOR DETERMINATION OF INSTRUMENT TRAJECTORY IN SPINAL SURGERY ON OPEN WOUND Russian patent published in 2020 - IPC A61B34/00 

FIELD: medicine.

SUBSTANCE: invention relates to medical equipment. Method for determination of trajectory of instrument in spinal surgery on open wound, operating table by means of robotic complex, visualizing anatomy of patient in three-dimensional reconstruction and performing feedback with actions of surgeon, native anatomy of patient with pathology in computed tomography mode, determining a pathological focus and selecting an optimum path to it, arranging, using a robotic system on a workstation screen, a motion path, with laser display on patient's anatomy of instrument insertion point to pathological focus, characterized by that pre-visualized soft-tissue anatomy of patient by means of intensity data set obtained by magnetic resonance imaging method, and after imaging of native bone anatomy on an operating table, they are combined on the workstation screen, wherein selection of the optimal trajectory to the pathological focus is carried out in two steps: the first one - by visualizing on the combined image of the patient's anatomy by the laser of the instrument insertion point on the patient's skin and evaluating the trajectory taking into account the removal of the disturbing imaging for the surgeon of the anatomical structures, the subsequent opening of the wound, performing skin incision above the selected trajectory, and providing removal of selected anatomical structures from it, second is re-visualizing directly on the operating table at a given moment in time the changed native bone anatomy of a patient with a computer tomography pathology and combining it with initial image of soft-tissue anatomy on workstation screen, wherein the initial insertion point of the instrument is displayed by a laser on a line corresponding to the patient's skin on the preoperative soft tissue image and is placed on the open anatomy of the patient using the needle program of the insertion points to 30 mm from the initial selection.

EFFECT: technical result consists in improvement of accuracy of patient-specific positioning and orientation of surgical instruments.

1 cl, 3 ex