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Robotic laser osteotomy through penscriptive structured light visual servoing.

Jamil Jivraj1, Ryan Deorajh2, Phillips Lai2

  • 1Biophotonics & Bioengineering Laboratory, Department of Electrical & Computer Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, Canada. jjivraj@ryerson.ca.

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|February 8, 2019
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Summary
This summary is machine-generated.

Surgeons can now intuitively plan robotic osteotomies by drawing cut paths directly on bone. This method integrates robotic surgery seamlessly into existing workflows with high precision.

Keywords:
DrillingFeature detectionImage processingLaser osteotomyPenscriptionPlanningStructured lightTrajectory generation

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Area of Science:

  • Robotic Surgery
  • Surgical Planning
  • Medical Robotics

Background:

  • Osteotomy planning is a critical surgical step, often becoming less intuitive with robotic assistance.
  • Current methods for robotic osteotomy planning can be complex and deviate from standard surgical practice.

Purpose of the Study:

  • To develop an intuitive method for robotic osteotomy trajectory planning.
  • To enable surgeons to plan robotic procedures similarly to instructing a trainee.

Main Methods:

  • A novel method for generating osteotomy trajectories for robotic manipulators was developed.
  • Surgeons draw desired cut paths on bone using a surgical pen.
  • Structured light imaging captures the penscribed path, which is then converted into a 3D trajectory for the robot.

Main Results:

  • A 7-DOF robotic manipulator accurately followed penscribed trajectories with sub-millimeter error.
  • Mean absolute errors were 0.46 mm in the target plane and 0.36 mm perpendicular to it.

Conclusions:

  • Robots can precisely execute osteotomy paths drawn by surgeons on bone surfaces.
  • This approach allows for the integration of robotic technology without drastically altering surgical workflows.
  • Robotic osteotomy planning can be achieved intuitively, mimicking traditional surgeon-to-trainee instruction.