Systems and methods to optimize reachability, workspace, and dexterity in minimally invasive surgery
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Publication Number
US-12262952-B2
Publication Date
2025-04-01
Expiration Date
Abstract
Systems, methods, and computer program products for quantification of error in tool orientation of a surgical robotic are disclosed. A first robotic arm is provided where the robotic arm includes a surgical instrument and a tool disposed at the distal end of the surgical instrument. A first orientation of the tool is determined including a first x-component, a first y-component, and a first z-component. A desired orientation of the tool is determined including a second x-component, a second y-component, and a second z-component. A first angle between the first x-component and the second x-component is determined, a second angle between the first y-component and the second y-component is determined, and a third angle between the first z-component and the second z-component is determined. An error metric based on the first angle, the second angle, and the third angle is determined.
Core Innovation
A method and system are provided for minimally invasive surgery using a robotic arm with a surgical tool, where a proximal end is fixed or coupled to a base and a distal end carries the tool. The method determines one or more trajectories to move the surgical tool toward one or more anatomical structures of a patient, and each trajectory is discretized into a plurality of points.
For the discretized points, the method determines one or more tool orientation errors associated with the surgical tool and evaluates error-minimizing incision sites based at least in part on a location of the anatomical structures. The method computes a total error metric for each candidate error-minimizing incision site by summing the tool orientation errors determined for each plurality of points along the one or more trajectories.
The incision site associated with a total error metric less than a total error metric for other error-minimizing incision sites is selected, and movement of the robotic arm and/or the surgical tool is adjusted based on the total error metric associated with the one or more trajectories. In some embodiments, the total error metric for a selected incision site is iteratively computed based on one or more error metrics associated with one or more candidate incision sites adjacent to the selected incision site, and a plot of the total error metric for each one or more error-minimizing incision sites is generated, including color-coded indications and/or overlaying the plot on an anatomical model of the patient.
Claims Coverage
Three independent claims are provided. Across the independent claims, the inventive features focus on discretized trajectory planning, determining tool orientation errors at trajectory points, evaluating multiple error-minimizing incision sites using a total error metric, and adjusting robotic arm/tool movement based on that total error metric, with optional visualization and iterative/adjacent-incision computation.
Discretized trajectories toward anatomical structures
Determining one or more trajectories to move the surgical tool towards one or more anatomical structures of a patient, wherein the one or more trajectories are discretized into a plurality of points.
Error-minimizing incision sites and tool orientation errors
Determining one or more error-minimizing incision sites on the patient and one or more tool orientation errors associated with the surgical tool for each of the plurality of points along the one or more trajectories, based at least in part on a location of the one or more anatomical structures.
Total error metric by summation across trajectory points
Adjusting a movement of the robotic arm or the surgical tool based on a total error metric associated with the one or more trajectories, wherein the total error metric includes a summation of the one or more tool orientation errors determined for each of the plurality of points along the one or more trajectories.
Selecting an incision site with a smaller total error metric
Wherein the one or more trajectories correspond to an error-minimizing incision site having a total error metric that is less than a total error metric for one or more other error-minimizing incision sites.
Plotting total error metric for incision sites
Generating a plot of a total error metric for each of the one or more error-minimizing incision sites.
Iteratively computing total error for adjacent candidate incision sites
Wherein the total error metric for a selected incision site is iteratively computed based on one or more error metrics associated with one or more candidate incision sites adjacent to the selected incision site.
Overall, the claims cover robotic minimally invasive surgery planning where discretized trajectories toward anatomical structures are evaluated by tool orientation errors at trajectory points, these errors are aggregated into a total error metric per candidate incision site, and the robot movement is adjusted based on selecting an incision site with a smaller total error metric. Additional coverage includes plotting the total error metric and iteratively computing the selected incision-site metric using adjacent candidate incision sites.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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