System for robot-assisted navigation in minimally invasive surgical procedures using real-time instrument localization and tissue mapping

Abstract

A system for robot-assisted minimally invasive surgical navigation with real-time instrument localization and tissue mapping, comprising: a multi-jointed robotic arm with an end effector configured to hold at least one surgical instrument; a plurality of sensor units operatively connected to the surgical instrument and the robotic manipulator, the plurality of sensor units comprising at least one optical sensor unit, at least one electromagnetic sensor unit, and at least one inertial sensor unit; an intraoperative imaging unit configured to acquire real-time image data of the surgical field; and a data acquisition unit configured to receive signals from the plurality of sensor units and the intraoperative imaging unit.a signal conditioning unit configured to calibrate, synchronize, and reduce noise in the received signals; a processing unit configured to determine the spatial position and orientation of the surgical instrument by fusing data from the optical sensor unit, the electromagnetic sensor unit, and the inertial sensor unit; a registration unit configured to compare the intraoperative image data with the preoperative image data to create a unified anatomical reference; a tissue mapping unit configured to generate a three-dimensional representation of tissue structures based on the intraoperative image data; a navigation control unit configured to calculate instrument trajectories based on the spatial position, orientation, and generated three-dimensional representation;and a visualization unit configured to display in real time the spatial position of the surgical instrument in relation to the mapped tissue structures.

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