Robotic Surgical Tool Path Control Under External Surface Envelope
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Solution Overview
Problem
Robotic surgical systems face challenges in safely removing a planned volume of an anatomical structure without damaging adjacent structures, as existing systems may not effectively compute and execute paths to avoid contact with nearby anatomical structures during burring procedures.
Innovation Solution
A robotic surgical system with a control unit that computes and executes a cutting path to maintain the surgical tool under the external surface of the anatomical structure being treated, while detecting potential contact with adjacent structures and adjusting the tool's path to avoid them, using real-time tracking and actuation units to ensure safe and precise removal of the planned volume.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the surgical tool follows a computed cutting path to remove the planned volume, then the removal efficiency is improved, but the risk of contacting adjacent anatomical structures increases
Solution Approach 1:
The system introduces a new spatial dimension by defining and utilizing an external surface envelope of the anatomical structure. The control unit computes the cutting path such that the surgical tool remains constrained within this envelope, effectively adding a safety boundary dimension to the three-dimensional cutting space. This dimensional constraint ensures that the tool cannot contact adjacent anatomical structures while maintaining efficient volume removal capability.
Solution Approach 2:
The external surface envelope acts as an intermediary protective layer between the surgical tool and adjacent anatomical structures. Rather than directly controlling the tool's distance from sensitive structures, the system uses the envelope as an intermediate constraint that automatically prevents harmful contact. The control unit monitors and enforces the tool's position relative to this intermediary envelope throughout the cutting process.
2Reliability
If the surgical tool remains under the external surface to avoid contact, then safety is improved, but the ability to remove volume under the surface is limited
Solution Approach 1:
The system dynamically adjusts the cutting strategy based on the tool's position relative to the external surface envelope. When the tool approaches the envelope boundary, the control unit automatically modifies the cutting path to maintain safety while continuing volume removal. This dynamic adaptation allows the system to handle complex geometries where the target volume extends near or beneath the surface, balancing safety constraints with complete volume removal requirements.
Solution Approach 2:
The control unit performs preliminary computation of the external surface envelope and the optimal cutting path before the surgical procedure begins. This preliminary action includes identifying all regions where the planned volume removal might approach the surface and pre-planning safe tool trajectories. By preparing the complete safety-constrained path in advance, the system ensures both safety and completeness of volume removal without requiring real-time adjustments that could compromise either objective.
3Object-affected harmful factors
If real-time tracking and path adjustment are implemented, then contact avoidance is improved, but the system complexity increases
Solution Approach 1:
The system replaces complex mechanical safety mechanisms with computational methods. Instead of using physical guides, mechanical stops, or haptic feedback systems to prevent contact, the invention uses software-based computation of the external surface envelope and algorithmic control of the cutting path. The control unit performs all safety monitoring and path adjustment through mathematical calculations and digital control signals, eliminating the need for additional mechanical safety components and reducing overall system complexity.
Data Source
AI summary
The disclosure relates to a robotic surgical system for treating an anatomical structure (B1), comprising: —a base (10) configured to be handheld by a user, —an end effector (13) holding a surgical tool (2), —an actuation unit (12) coupled to the end effector, configured to move the end effector relative to the base, —a tracking unit (3) configured to determine in real time a position of the surgical tool with respect to a coordinate system of the anatomical structure, —a control unit (6) coupled to the tracking unit and to the actuation unit, the control unit being configured to: # compute a path of the tool (2) to remove a planned volume of the anatomical structure, and # control the actuation unit to move the surgical tool according to the computed path to burr the planned volume, wherein the control unit is configured to determine an external surface (S) of the anatomical structure (B1) to be treated and to compute the tool path such that the surgical tool remains under said external surface (S) during treatment of the planned volume so as to avoid any contact of the surgical tool with another anatomical structure (B2).