Patent ID: 9492241
Filing Date: 2016-11-15
CPC Classification: A61B

Claim Text:
1. A system for performing neurosurgery on a subject's head, comprising: a control system adapted to use a preoperative plan for performing at least one neurosurgical procedure on the subject's head, said preoperative plan being derived from a preoperatively generated three dimensional image set of at least part of the subject's head; a three dimensional scanner for generating an intraoperative surface scan of anatomical features of at least part of the subject's head; fixation elements configured for mounting in a fixed position on the subject's head; a registration jig comprising a tetrahedron having different angles different angles between each pair of its four faces for mounting on said fixation elements, a position and orientation of said registration jig being defined in said intraoperative three dimensional scan by three dimensional imaging of the tetrahedron faces; and a miniature robot adapted for mounting on said fixation elements in a predetermined position relative to that of said registration jig, wherein a position of said miniature robot is fixed relative to said subject's head; said control system configured to match at least some anatomical features in said intraoperative surface scan of at least part of the subject's head with corresponding anatomical features in a model of corresponding parts of the subject's head obtained from said preoperatively generated three dimensional image set, such that the position of said miniature robot, when mounted on said fixation elements, is also defined relative to said preoperatively generated three dimensional image set in order to control the position of said miniature robot according to said at least one neurological procedure, wherein said control system is further configured to control said miniature robot to intraoperatively perform said at least one neurosurgical procedure defined by said preoperative plan.