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Enhancing Surgical Precision in Autonomous Robotic Incisions via Physics-Based Tissue Cutting Simulation.

Jiawei Ge¹, Ethan Kilmer², Leila J Mady³

¹Jiawei Ge, Justin D. Opfermann, and Axel Krieger are with the Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21211, USA.

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

|March 19, 2025

Summary

This study integrates physics-based simulations into robotic surgery to predict tissue deformation, improving incision accuracy. This approach enhances precision in soft tissue tumor resections, reducing the need for real-time surgical adjustments.

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Area of Science:

Robotic Surgery
Surgical Simulation
Biomechanical Engineering

Background:

Achieving precision in soft tissue surgeries, like tumor resections, is critical.
Surgeons currently rely on intraoperative adjustments to compensate for tool-tissue interaction deformations.
Existing methods necessitate dynamic adjustments during autonomous procedures.

Purpose of the Study:

To integrate physics-based tissue cutting simulations into autonomous robotic surgery.
To preoperatively predict and compensate for tissue deformations during incisions.
To enhance surgical precision and minimize intraoperative adjustments.

Main Methods:

A real-to-sim-to-real workflow was adapted.
The Autonomous System for Tumor Resection (ASTR) evaluated initial incision accuracy.
A finite element analysis simulation (SOFA) mimicked tissue-incision interactions.
Simulation insights refined robot path planning for improved accuracy.

Main Results:

Average absolute incision error reduced from 1.73 mm to 1.46 mm (p < 0.001).
Shape matching scores (Hu moments) improved from 0.10 to 0.06.
Centroid shifts decreased from 2.09 mm to 1.33 mm.
Potential reduction in close margins, preventing adverse oncologic outcomes.

Conclusions:

Merging physics-based simulations with autonomous robotic surgery can lead to more accurate incisions.
This approach shows feasibility for improving precision in tumor resections.
Preoperative compensation for tissue deformation is a promising strategy for autonomous surgery.