Robotic laser osteotomy through penscriptive structured light visual servoing

• Published in: International journal for computer assisted radiology and surgery Vol. 14; no. 5; pp. 809 - 818
• Main Authors: Jivraj, Jamil, Deorajh, Ryan, Lai, Phillips, Chen, Chaoliang, Nguyen, Nhu, Ramjist, Joel, Yang, Victor X. D.
• Format: Journal Article
• Language: English
• Published: Cham Springer International Publishing 01.05.2019; Springer Nature B.V
• Subjects: Biocompatibility; Computer Imaging; Computer Science; Health Informatics; Image acquisition; Image segmentation; Imaging; Manipulators; Medicine; Medicine & Public Health; Optimization; Original Article; Pattern Recognition and Graphics; Radiology; Relaying; Robot arms; Robotics; Robots; Surgeons; Surgery; Teaching methods; Trajectory planning; Vision; Visual control; Workflow; Drilling; Image processing; Feature detection; Penscription; Structured light; Trajectory generation; Laser osteotomy; Planning
• ISSN: 1861-6410; 1861-6429
• DOI: 10.1007/s11548-018-01905-x

Purpose Planning osteotomies is a task that surgeons do as part of standard surgical workflow. This task, however, becomes more difficult and less intuitive when a robot is tasked with performing the osteotomy. In this study, we aim to provide a new method for surgeons to allow for highly intuitive trajectory planning, similar to the way an attending surgeon would instruct a junior. Methods Planning an osteotomy, especially during a craniotomy, is performed intraoperatively using a sterile surgical pen or pencil directly on the exposed bone surface. This paper presents a new method for generating osteotomy trajectories for a multi-DOF robotic manipulator using the same method and relaying the penscribed cut path to the manipulator as a three-dimensional trajectory. The penscribed cut path is acquired using structured light imaging, and detection, segmentation, optimization and orientation generation of the Cartesian trajectory are done autonomously after minimal user input. Results A 7-DOF manipulator (KUKA IIWA) is able to follow fully penscribed trajectories with sub-millimeter accuracy in the target plane and perpendicular to it (0.46 mm and 0.36 mm absolute mean error, respectively). Conclusions The robot is able to precisely follow cut paths drawn by the surgeon directly onto the exposed boney surface of the skull. We demonstrate through this study that current surgical workflow does not have to be drastically modified to introduce robotic technology in the operating room. We show that it is possible to guide a robot to perform an osteotomy in much the same way a senior surgeon would show a trainee by using a simple surgical pen or pencil.