WO2017115235A1

WO2017115235A1 - Image-based adaptive path planning for a robot

Info

Publication number: WO2017115235A1
Application number: PCT/IB2016/057911
Authority: WO
Inventors: Aleksandra Popovic; David Paul Noonan
Original assignee: Koninklijke Philips N.V.
Priority date: 2015-12-29
Filing date: 2016-12-22
Publication date: 2017-07-06

Abstract

A robotic procedural system employing a medical robot (40) for medically interacting with an anatomical or non-anatomical structure within an anatomical region (e.g., a surgical interaction by a surgical robot (140) with an anatomical structure). The robotic procedural system further employs a medical robot controller (50). In operation, the medical robot controller (50) derives a medical robot path from a medical plan delineating a medical interaction by the medical robot (40) with the structure. The medical robot controller (50) further controls a navigation of the medical robot (40) along the medical robot path within the anatomical region relative to the structure whereby the medical robot (40) medically interacts with the structure, and adjusts the medical robot path responsive to a deviation by the medical robot (40) from the medical plan as illustrated by a procedural image of the medical robot (40) and/or the structure.

Description

IMAGE-BASED ADAPTIVE PATH PLANNING FOR A ROBOT

FIELD OF THE INVENTION

The present disclosure generally relates to a utilization of robots for implementing various medical procedures (e.g., laparoscopic surgery, neurosurgery, spinal surgery, natural orifice transluminal surgery, pulmonary/bronchoscopy surgery, biopsy, ablation, implantation and diagnostic interventions).

The present disclosure specifically relates to a generation of a robot path for a medical robot to medically interact with an anatomical structure or a non-anatomical structure during a medical procedure, the robot path being derived from a medical plan delineating the anatomical/non-anatomical structure and adapted based on procedural images of the medical procedure.

More particular to a surgical procedure, the present disclosure relates to a generation of a robot path for a surgical robot to surgically interact with an anatomical structure (e.g., tissue and bone) during the surgical procedure, the robot path being derived from a surgical plan delineating the anatomical structure and adapted based on surgical images of the surgical procedure.

BACKGROUND OF THE INVENTION

Tissue removal is a common task in surgery. Typically, the surgery involves a surgical delineation and removal of tumors, cysts or any other growths, or removal of bony structures in orthopedic surgery, for example during knee or hip replacement. During these procedures, the surgeons have one or more imaging systems available to show the progress of the procedure. Examples of such imaging systems include, but not limited to , a X-ray imaging system, a endoscopy imaging system, a computed-tomography (CT) imaging system, a magnetic resonance imaging (MRI) system, and an ultrasound (US) imaging system.

For example, during a deviated septum surgery, some bone structures and cartilage are removed and remodeled to allow a better breathing in patients. The surgeon typically has three (3) medical imagining modalities available including a three-dimensional (3D) planning image (e.g., CT or MRI), a two-dimensional (2D) endoscopic image or stereo, and a 2D/3D X-ray image.

Generally, prior to the surgery, the 3D planning image is used to diagnose the condition and prepare a plan of tissue removal. During the surgery, the endoscope and surgical instruments used to remove tissue are inserted into the nasal cavity whereby the endoscope provides the main visual feedback during the procedure. The X-ray images are taken at discrete moments of time to allow inspection of wider area of surgical field since the endoscope typically has limited field of view.

The main disadvantage of the traditional approaches is that there is no feedback or adaptation of the plan during the procedure.

SUMMARY OF THE INVENTION

The present disclosure provides systems and controllers for implementing control methods of a medical robot during a medical procedure of any type for medical interaction by the medical robot (e.g., a surgical interaction, a diagnostic interaction, an implantation interaction, etc.) with an anatomical structure (e.g., tissue and/or bone) or a non-anatomical structure (e.g., a pacemaker, a valve, etc.) within an anatomical region by deriving a medical robot path from a medical plan delineating the anatomical/non-anatomical structure within the anatomical region and adjusting the medical robot path during the medical procedure based on procedural image(s) of the medical robot and/or the anatomical/non-anatomical structure.

More particular to surgical procedures employing the medical robot in a form of a surgical robot, the present disclosure provides systems and controllers for implementing control methods of the surgical robot during a surgical procedure of any type (e.g., a deviated septum surgery) for surgically interacting with an anatomical structure (e.g., tissue and/or bone) within an anatomical region by deriving a surgical robot path from a surgical plan delineating the anatomical structure within the anatomical region and adjusting the surgical robot path during the surgical procedure based on surgical image(s) of the surgical robot and/or the anatomical structure.

For purposes of the present disclosure,

(1) the terms "anatomical structure" and "anatomical region" are terms of the art of the present disclosure as exemplary described herein. Examples of an anatomical structure include, but are not limited to, tissue and bone. Examples of an anatomical region include, but are not limited to a cranial region, a nasal region, a thoracic region, an abdominal region, a dorsal region, a lumbar region and a cervical region;

(2) the term "non-anatomical structure" broadly encompasses, as understood in the art of the present disclosure and as exemplary described herein, any structure not related to an anatomy of an organism and disposable within an anatomical region;

(3) the term "structure" encompasses an anatomical structure and/or a non- anatomical structure; (4) the term "medical procedure", "surgical procedure", "diagnostic procedure" and "implantation/removal procedure" are terms of the art of the present disclosure;

(5) the term "medical robot" broadly encompasses any robot having a structural configuration, as understood in the art of the present disclosure and as exemplary described herein, equipped with a medical tool/instrument for performing a medical procedure within an anatomical region. Examples of a medical robot include, but are not limited to;

(a) a surgical robot equipped with a surgical tool/instrument (e.g., a saw, a laser, scissors, etc.) for performing a surgical procedure within anatomical region,

(b) a diagnostic robot equipped with a diagnostic tool/instrument (e.g., a biopsy needle, an endoscope, etc.) for performing a diagnostic procedure, and

(c) a carrier robot equipped with a carrier tool/instrument (e.g., a clamp, a hook, etc.) for performing an implantation of a medical device (e.g., a screw, a valve, etc.) within an anatomical region or a removal of the medical device from the anatomical region;

(6) the term "medical interaction" and tenses thereof broadly encompasses, as understood in the art of the present disclosure and as exemplary described herein, any action by a medical robot for purposes of executing step(s) to implement a medical procedure directed to an anatomical structure or a non-anatomical structure. Examples of a medical interaction include, but are not limited to:

(a) a surgical interaction broadly encompassing any action by a surgical robot for purposes of executing step(s) to implement a surgical procedure directed to an anatomical structure (e.g., a cutting of a tissue or bone, an ablation of tissue, etc.) or a non- anatomical structure,

(b) a diagnostic interaction broadly encompassing any action by a diagnostic robot for purposes executing step(s) to implement a diagnostic procedure directed to an anatomical structure (e.g., a biopsy of a tissue, a perimeter viewing of tissue, etc.) or a non-anatomical structure (e.g., a viewing of a pacemaker or a valve, etc.), and

(c) a carrier interaction broadly encompassing any action by a carrier robot for purposes executing step(s) of a implantation/removal procedure directed to an anatomical structure (e.g., a positioning of a screw within a bone, etc.) or a non-anatomical structure;

(7) the term "medical robot path" broadly encompasses, an understood in the art of the present disclosure and as exemplary described herein, a path defining translational motion and/or angular motion (e.g., a pivot, a yaw, a pitch or a roll) of an entirety of a medical robot within an anatomical region for purposes of performing the medical procedure, and/or translational motion and/or angular motion a component/segment of the medical robot (e.g., an end-effector) within an anatomical region for purposes of performing the medical procedure. Examples of a medical robot path include, but are not limited to:

(a) a path defining translational motion and/or angular motion (e.g., a pivot, a yaw, a pitch or a roll) of an entirety of a surgical robot or a surgical tool/instrument of the surgical robot within an anatomical region for purposes of performing a surgical procedure,

(b) a path defining translational motion and/or angular motion (e.g., a pivot, a yaw, a pitch or a roll) of an entirety of a diagnostic robot or a diagnostic

tool/instrument of the diagnostic robot within an anatomical region for purposes of performing a diagnostic procedure, and

(c) a path defining translational motion and/or angular motion (e.g., a pivot, a yaw, a pitch or a roll) of an entirety of a carrier robot or a carrier tool/instrument of the medical robot within an anatomical region for purposes of performing

implantation/removal procedure of a medical device;

(8) the term "controller" broadly encompasses all structural configurations, as understood in the art of the present disclosure and as exemplary described herein, of an application specific main board or an application specific integrated circuit for controlling an application of various inventive principles of the present disclosure as subsequently described herein. The structural configuration of the controller may include, but is not limited to, processor(s), computer-usable/computer readable storage medium(s), an operating system, application module(s), peripheral device controller(s), slot(s) and port(s). The controller may be housed or linked to a workstation or an imaging system. Examples of a workstation include, but are not limited to, an assembly of one or more computing devices (e.g., a client computer, a desktop and a tablet), a display/monitor, and one or more input devices (e.g., a keyboard, joysticks and mouse). Any descriptive labeling of a controller herein (i.e.., a "medical robot controller", and a "surgical robot controller") serves to identify a particular controller as described and claimed herein without specifying or implying any additional limitation to the term "controller";

(9) the term "module" broadly encompasses a component of the controller consisting of an electronic circuit and/or an executable program (e.g., executable software and/firmware) for executing a specific application. Any descriptive labeling of an application module herein (e.g., a "medical procedure planner" module, a "medical robot path generator" module, etc.) serves to identify a particular application module as described and claimed herein without specifying or implying any additional limitation to the term "application module";

(10) the term "imaging system" broadly encompasses, as understood in the art of the present disclosure and as exemplary described herein, all types of imaging modalities utilized during medical procedures for planning and/or procedural purposes. Any descriptive labeling of an imaging system herein (i.e., a "planning imaging system" and a "procedural imaging system", etc.) serves to identify a particular controller as described and claimed herein without specifying or implying any additional limitation to the term "imaging system";

(11) the term "planning image" broadly encompasses, as understood in the art of the present disclosure and as exemplary described herein, a two-dimensional (2D) image or a three-dimensional (3D) image illustrative of an anatomical region before or during a medical procedure utilized for planning the medical procedure;

(12) the term "medical plan" broadly encompasses, as understood in the art of the present disclosure and as exemplary described herein, a planning image illustrative of a delineated plan for executing a medical procedure directed to an anatomical structure or a non-anatomical structure. Examples of a medical plan include, but are not limited to:

(a) a surgical plan encompassing a delineated plan for executing a surgical procedure directed to an anatomical structure or a non-anatomical structure,

(b) a diagnostic plan encompassing a delineated plan for executing a diagnostic procedure directed to an anatomical structure or a non-anatomical structure, and

(c) a carrier plan encompassing a delineated plan for executing an implantation/removal procedure directed to an anatomical structure or a non-anatomical structure;

(13) the term "procedural image" broadly encompasses, as understood in the art of the present disclosure and as exemplary described herein, a 2D image or 3D image illustrative of an anatomical region during a medical procedure utilized for viewing the medical procedure; and

(14) the term "adjusting" or any tense thereof broadly encompasses, as understood in the art of the present disclosure and as exemplary described herein, a modification, an adaptation or a substitution.

One form of the inventions of the present disclosure is, for any type of medical procedure, a robotic procedural system employing a medical robot and a medical robot controller. The medical robot is structurally configured to medically interact with an anatomical structure or a non-anatomical structure within an anatomical region.

The medical robot controller is structurally configured to derive a medical robot path from a medical plan delineating a medical interaction by the medical robot with the anatomical/non-anatomical structure.

The medical robot controller is further structurally configured to navigate the medical robot along the medical robot path within the anatomical region relative to the

anatomical/non-anatomical structure whereby the medical robot medically interacts with the anatomi cal/ non-anatomi cal structure .

The medical robot controller is further structurally configured, as the medical robot is being navigated by the medical robot controller along the medical robot path, to adjust the medical robot path responsive to a deviation by the medical robot from the medical plan as illustrated by a procedural image of the medical robot and/or the anatomical/non-anatomical structure.

More particular to surgical procedures, the robotic procedural system employs a surgical robot and a surgical robot controller.

The surgical robot is structurally configured to surgically interact with an anatomical structure within an anatomical region.

The surgical robot controller is structurally configured to derive a surgical robot path from a surgical plan delineating a surgical interaction by the surgical robot with the anatomical structure.

The surgical robot controller is further structurally configured to navigate the surgical robot along the surgical robot path within the anatomical region relative to the anatomical structure whereby the surgical robot surgically interacts with the anatomical structure.

The surgical robot controller is further structurally configured, as the surgical robot is being navigated by the surgical robot controller along the surgical robot path, to adjust the surgical robot path responsive to a deviation by the surgical robot from the surgical plan as illustrated by a procedural image of the surgical robot and/or the anatomical structure.

A second form of the inventions of the present disclosure is, for any type of medical procedure, the medical robot controller employing a medical robot path generator, a medical robot navigator and a medical robot path monitor.

The medical robot path generator is structurally configured to derive the medical robot path from a medical plan delineating a medical interaction by the medical robot with an anatomical/non-anatomical structure within the anatomical region. The medical robot navigator is structurally configured to control the navigation of the medical robot along the medical robot path within the anatomical region relative to the anatomical/non-anatomical structure whereby the medical robot medically interacts with the anatomi cal/ non-anatomi cal structure .

The medical robot path monitor is structurally configured to, as the medical robot is being navigated by the medical robot navigator along the medical robot path, to adjust the medical robot path responsive to a deviation from the medical plan as illustrated by the procedural image of the medical robot and/or the anatomical/non-anatomical structure.

The medical robot controller may further employ a medical procedure planner structurally configured to generate the medical plan.

More particular to surgical procedures, the medical robot controller is surgical robot controller employing a surgical medical robot path generator, a surgical robot navigator and a surgical medical robot path monitor.

The surgical medical robot path generator is structurally configured to derive a surgical robot path from a surgical plan delineating a surgical interaction by the surgical robot with an anatomical structure within the anatomical region.

The surgical robot navigator is structurally configured to control the navigation of the surgical robot along the surgical robot path within the anatomical region relative to the anatomical structure whereby the surgical robot surgically interacts with the anatomical structure.

The surgical medical robot path monitor is structurally configured to, as the surgical robot is being navigated by the surgical robot navigator along the surgical robot path, to adjust the surgical robot path responsive to a deviation by the surgical robot from the surgical plan as illustrated by a procedural image of the surgical robot and/or the anatomical structure.

The surgical robot controller may further employ a surgical procedure planner structurally configured to generate the surgical plan.

A third form of the inventions of the present disclosure is a robotic procedural method for any type of medical procedure. The method involves a medical robot controller controlling a navigation of a medical robot along a medical robot path within an anatomical region relative to an anatomical structure or a non-anatomical structure based on a medical plan delineating an medical interaction by the medical robot with the anatomical/non- anatomical structure. The method further involves the medical robot controller, as the medical robot is being navigated along the medical robot path to thereby interact with the anatomical/non-anatomical structure, adjusting the medical robot path responsive to a deviation by the medical robot from the medical plan as illustrated by a procedural image of the medical robot and/or the anatomical/non-anatomical structure.

More particular to surgical procedures, the method involves a surgical robot controller controlling a navigation of a surgical robot along a surgical robot path within an anatomical region relative to an anatomical structure based on a surgical plan delineating a surgical interaction by the surgical robot with the anatomical structure. The method further involves the surgical robot controller, as the surgical robot is being navigated along the surgical robot path to thereby surgically interact with the anatomical structure, adjusting the surgical robot path responsive to a deviation by the surgical robot from the surgical plan as illustrated by a surgical image of the surgical robot and/or the anatomical structure.

The foregoing forms and other forms of the inventions of the present disclosure as well as various features and advantages of the present disclosure will become further apparent from the following detailed description of various embodiments of the present disclosure read in conjunction with the accompanying drawings. The detailed description and drawings are merely illustrative of the present disclosure rather than limiting, the scope of the present disclosure being defined by the appended claims and equivalents thereof.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 illustrates a block diagram of a first exemplary embodiment of a robotic procedural system in accordance with the inventive principles of the present disclosure.

FIG. 2 illustrates a block diagram of an exemplary comparison between a non- adaptive robotic control as known in the art and an adaptive robotic control in accordance with the inventive principles of the present disclosure.

FIG. 3 illustrates a block diagram of a second exemplary embodiment of a robotic surgical system in accordance with the inventive principles of the present disclosure.

FIGS. 4 A and 4B illustrate a flowchart representative of an exemplary embodiment of a robot control method in accordance with the inventive principles of the present disclosure.

FIGS. 5 A and 5B illustrate a flowchart representative of an exemplary embodiment of adaptive robot control method in accordance with the inventive principles of the present disclosure.

FIG. 6A illustrates a block diagram of a third exemplary embodiment of a robotic procedural system in accordance with the inventive principles of the present disclosure.

FIG. 6B illustrates a block diagram of a fourth exemplary embodiment of a robotic procedural system in accordance with the inventive principles of the present disclosure. FIG. 6C illustrates a block diagram of a fifth exemplary embodiment of a robotic procedural system in accordance with the inventive principles of the present disclosure.

DETAILED DESCRIPTION OF THE PREFERRED EMB ODEVIENT S

An adaptive robotic control of the present disclosure facilitates a more efficient execution of a medical procedure involving a medical interaction of a medical robot with an anatomical structure or a non-anatomical structure within an anatomical region. To facilitate an understanding of the present disclosure, the following description of FIG. 1 teaches basic inventive principles of a robotic procedural system for implementing an adaptive robot control of the present disclosure. From this description, those having ordinary skill in the art will appreciate how to apply the inventive principles of the present disclosure to numerous embodiments of a robotic procedural system of the present disclosure for various medical procedures.

Referring to FIG. 1, a robotic procedural system of the present disclosure employs a planning imaging system 20, a procedural imaging system 30, a set of medical robots 40 and a medical robot controller 50.

In operation prior to a commencement of a medical procedure, a planning imaging system 20 generates a two-dimensional (2D) or three-dimensional (3D) planning image 21 of an anatomical structure and/or a non-anatomical structure within an anatomical region as known in the art. Examples of planning imaging system 20 include, but are not limited to, an X-ray imaging system, a computed-tomography (CT) imaging system, a magnetic resonance imaging (MRI) imaging system, and an ultrasound (US) imaging system.

In practice, one or more imaging modalities may be employed for generating multiple 2D/3D planning images 21.

In operation upon commencement of the medical procedure, a procedural imaging system 30 generates a two-dimensional (2D) or three-dimensional (3D) procedural image 31 of an anatomical structure and/or a non-anatomical structure within an anatomical region as known in the art. Examples of procedural imaging system 30 include, but are not limited to, an X-ray imaging system, a CT imaging system, a MRI imaging system, and an US imaging system.

In practice, one or more procedural imaging systems 30 may be employed for generating multiple 2D/3D procedural images 31.

Also in practice, planning imaging system 20 and procedural imaging system 30 may be the same imaging system or the same type of imaging systems. The set of medical robots 40 may include various types of robots with each medical robot incorporating a specific capability for performing a medical procedure including, but not limited to, (1) a surgical removal of tissue, bone or other anatomical structures (e.g., a surgical removal of a portion of deviated septum), (2) a diagnostic viewing of an anatomical structure (e.g., a streaming video of an exterior of a heart) or a non-anatomical structure (e.g., a pacemaker or an artificial valve), and (3) an implantation or a removal of a medical device relative to an anatomical structure or a non-anatomical structure (e.g., an implantation or a removal of a screw, a valve, etc. from an anatomical structure).

In practice, each medical robot 40 may have a single joint configuration or a multi- jointed configuration, a push or a pull wire configuration, and/or any combination thereof.

For example as shown in FIG. 1, as known in the art for surgically removing tissue, bone or other anatomical structures, a surgical robot 140 employs a revolute joint 141 connecting a proximal link 142p and a distal link 142d. A surgical saw 143 extends from a tip of distal link 142d. Revolute joint 141 facilitates a revolving movement of distal link 142d and surgical saw 143 in one (1) or two (2) directions (e.g., a pitch and yaw). In practice, surgical robot 140 may employ a cutting tool alternative to surgical saw 143 including, but not limited to, a laser and scissors.

By further example as shown in FIG. 1, as known in the art for diagnostically viewing anatomical structures and non-anatomical structures, a diagnostic robot 240 employs a flexible jointed robot 241 supporting an endoscope there with a lens 242 of the endoscope at the distal tip thereof.

By further example as shown in FIG. 1, as known in the art for implantation and/or removal of medical devices relative to anatomical structures and non-anatomical structures, a carrier robot 340 employs a flexible jointed robot 241 having a distal clamp 342.

Medical robot controller 50 employs a medical procedure planner 60, a medical robot path generator 70, a medical robot navigator 80, and a medical robot path monitor 90.

Medical procedure planner 60 is a modular application embodied on medical robot controller 50 and as known in the art, provides an interactive display of 2D/3D planning image 21 whereby an operator of medical procedure planner 60 (e.g., a diagnostician, a surgeon, etc.) may generate a 2D/3D medical plan 61 delineating an medical interaction by a medical robot 40 with an anatomical structure (e.g., tissue and/or bone) and/or a non- anatomical structure (e.g., a pacemaker, a valve, etc.) within an anatomical region (e.g., a cranial region, a nasal region, a thoracic region, an abdominal region, a dorsal region, a lumbar region and a cervical region). For example, medical plan 61 may delineate a surgical removal by surgical robot 140 of a tissue, a bone or other anatomical structure from within an anatomical region as will be further described herein.

By further example, medical plan 61 may delineate a diagnostic viewing by diagnostic robot 240 of an anatomical structure and/or a non-anatomical structure within an anatomical region.

By even further example, medical plan 61 may delineate an implantation or a removal by carrier robot 340 of a medical device (e.g., a screw, a valve, etc.) relative to an anatomical structure and/or a non-anatomical structure within an anatomical region.

In practice, a structural configuration of medical procedure planner 60 as embodied on medical robot controller 50 for one or more medical procedures may be dependent to a degree upon the specific anatomical structure(s)/non-anatomical structure(s) involved in the medical procedure(s) and/or upon the specific type of planning imaging system 20.

Medical robot path generator 70 is a modular application embodied on a medical robot controller 50 and as known in the art, derives a robot path 71 through the anatomical region from the medical plan 61 as generated by medical procedure planner 60.

For example, medical robot path generator 70 may derive robot path 71 defining translational motion and/or angular motion of an entirety of surgical robot 140 or of surgical saw 143 within an anatomical region in accordance with medical plan 61 for executing a surgical procedure.

Also by example, medical robot path generator 70 may derive robot path 71 defining translational motion and/or angular motion of an entirety of diagnostic robot 240 or of distal lens 242 within an anatomical region in accordance with medical plan 61 for executing a diagnostic procedure.

By further example, medical robot path generator 70 may derive robot path 71 defining translational motion and/or angular motion of an entirety of carrier robot 340 or of distal clamp 342 within an anatomical region in accordance with medical plan 61 for executing an implantation/removal procedure.

In practice, a structural configuration of medical robot path generator 70 as embodied on medical robot controller 50 for one or more medical procedures may be dependent to a degree upon the specific anatomical structure(s)/non-anatomical structure(s) involved in one or more medical procedures, upon the specific type of planning imaging system 20, upon the specific type of procedural imaging system 30 and/or upon the specific type(s) of medical robot(s) 40. Also in practice, in deriving robot path 71, medical robot path generator 70 may execute spatial registration(s) of an applicable medical robot 40 to 2D/3D planning image 21 and/or 2D/3D procedural image 31, and/or a spatial registration of 2D/3D procedural image 31 to 2D/3D planning image 21.

Further in practice, in deriving robot path 71, a significant degree of simplicity of medical plan 61 as appreciated by those skilled in the art may facilitate a non-furcated continual robot path 71 through the anatomical region. Conversely, a significant degree of complexity of medical plan 61 as appreciated by those skilled in the art may facilitate a furcated and/or discontinuous robot path 71 though the anatomical region.

Medical robot navigator 80 is a modular application embodied on medical robot controller 50, and as known in the art, provides a control 81 of a navigation of a medical robot 40 along the robot path 71 within the anatomical region to thereby medically interact the medical robot 40 with the anatomical structure and/or the non-anatomical structure.

In practice, a navigation of medical robot 40 along robot path 71 may encompass translational motion and/or angular motion of an entirety of medical robot 40 along a portion or an entirety of robot path 71, and/or may encompass translational motion and/or angular motion of an component/segment of medical robot 40 (e.g., an end-effector) along a portion or an entirety of robot path 71.

For example, a navigation of surgical robot 140 along robot path 71 may encompass translational motion and/or angular motion of an entirety of surgical robot 140 along a portion or an entirety of robot path 71, and/or may encompass translational motion and/or angular motion of surgical saw 143 along a portion or an entirety of robot path 71.

Also for example, a navigation of diagnostic robot 240 along robot path 71 may encompass translational motion and/or angular motion of an entirety of diagnostic robot 240 along a portion or an entirety of robot path 71, and/or may encompass translational motion and/or angular motion of distal endoscope lens 242 along a portion or an entirety of robot path 71.

By further example, a navigation of carrier robot 340 along robot path 71 may encompass translational motion and/or angular motion of an entirety of carrier robot 340 along a portion or an entirety of robot path 71, and/or may encompass translational motion and/or angular motion of clamp 342 along a portion or an entirety of robot path 71.

Also in practice, a structural configuration of medical robot navigator 80 as embodied on medical robot controller 50 for one or more medical procedures may be dependent to a degree upon the specific anatomical structure(s)/non-anatomical structure(s) involved in the medical procedure(s) and/or upon the specific type(s) of medical robot(s) 40.

Further in practice, medical robot navigator 80 may execute any known technique for controlling the navigation of medical robot 40 along the robot path 71 within the anatomical region. An example of such control technique include, but is not limited to, a servo control of medical robot 40.

Medical robot path monitor 90 is a modular application embodied on medical robot controller 50 in accordance with inventive principles of the present disclosure for generating an adjustment 91 to robot path 71 responsive to a deviation by a medical robot 40 from the medical plan 61 as illustrated by an 2D/3D procedural image 31 of the medical robot 40 and/or the anatomical structure/non-anatomical structure as will be further explained herein.

In practice, a structural configuration of medical robot path monitor 90 as embodied on medical robot controller 50 for one or more medical procedures may be dependent to a degree upon the specific anatomical structure(s)/non-anatomical structure(s) involved in the medical procedure(s), upon the specific type of planning imaging system 20, upon the specific type of procedural imaging system 30 and/or upon the specific type(s) of medical robot(s) 40.

Also in practice, adjustment 91 may be generated by medical robot path monitor 90 in response to any deviation from the medical plan 61 as illustrated by an 2D/3D procedural image 31 of the medical robot 40 and/or the anatomical structure/non-anatomical structure.

Alternatively, adjustment 91 may be generated by medical robot path monitor 90 in response to a deviation from the medical plan 61 as illustrated by an 2D/3D procedural image 31 of the medical robot 40 and/or the anatomical structure/non-anatomical structure that exceeds an adjustment threshold for a distance deviation, a volume differential deviation or any other applicable deviation.

Furthermore, adjustment 91 may be generated by medical robot path monitor 90 in response to a deviation from the medical plan 61 as illustrated by an 2D/3D procedural image 31 of the medical robot 40 and/or the anatomical structure/non-anatomical structure that is an nth deviation in a series of deviations.

Further in practice, adjustment 91 may be generated by medical robot path monitor 90 as a single comprehensive adjustment for correcting the deviation, or alternatively as a series of mini-adjustments for correcting the deviation. Additionally in practice, medical robot path monitor 90 may communicate path adjustment 91 to medical robot path generator 70 as shown in FIG. 1 whereby medical robot path generator 70 adjusts robot path 71.

Alternatively, medical robot path monitor 90 may communicate path adjustment 91 to medical procedure planner 60 whereby medical procedure planner 60 adjusts medical plan 61 and medical robot path generator 70 regenerates robot path 71 from the adjusted medical plan 61.

Alternatively, medical robot path monitor 90 may communicate path adjustment 91 to medical robot navigator 80 in the form of commands overriding medical robot path generator 70.

Even further in practice, medical robot path monitor 90 may be integrated into or distributed among medical procedure planner 60, medical robot path generator 70 and/or medical robot navigator 80.

Furthermore, as will be further described herein, medical robot controller 50 may be a single controller as shown in FIG. 1, or consist of multiple sub-controllers distributed throughout the robotic procedural system.

To facilitate a further understanding of the present disclosure, the following description of FIGS. 2-5 teaches basic inventive principles of a robotic surgical system for implementing an adaptive robot control of the present disclosure during a surgical procedure for a deviate septum. From this description, those having ordinary skill in the art will appreciate how to apply the inventive principles of the present disclosure to numerous embodiments of a robotic surgical system of the present disclosure for various surgical procedures.

More particularly, the adaptive robotic control of the present disclosure as

incorporated by a robotic surgical system minimizes, if not eliminates, a surgical removal of healthy tissue and/or bone during a surgical procedure to remove unhealthy tissue and/or bone.

For example, FIG. 2 illustrates a planning image 10 of cancerous tissue within an anatomical region 14 whereby the cancerous tissue consists of healthy tissue 15 and unhealthy tissue 16. A surgical plan 11 as known in the art delineates 17 the unhealthy tissue 16 for surgical removal, and a robot path 18 within anatomical region 14 is derived from surgical plan 11.

An execution of a non-adaptive robotic control 12 as known in the art typically results in an undesired surgical removal of a portion 15a of healthy tissue 15. Specifically, as the surgical robot is moving along robot path 18, various sources or errors may influence the accuracy of the tissue removal. Examples of such sources and errors include, but are not limited to, (1) a registration error between planning images and surgical images, (2) a registration error between the surgical robot and the surgical image, (3) an intrinsic robot error (e.g., a backlash, an encoder error, etc.), and (4) a tissue displacement due to the intervention.

To address the undesired surgical removal of healthy tissue 15a by the non-adaptive robotic control 12, an adaptive robotic control 13 of the present disclosure applies

adjustments 19 to robot path 18 based on surgical images of the surgical robot and/or tissue 15 as will be further explained herein. As shown, adaptive robotic control 13 minimizes, if not eliminates, the surgical removal of healthy tissue 15a along with the surgical removal of unhealthy tissue 16.

For implementing adaptive robotic control 13, For implementing adaptive robotic control 13, FIG. 3 illustrates a robotic surgical system of the present disclosure employs a CT imaging system 120, an X-imaging system 130, an endoscope 150, a surgical robot 140 (FIG. 2) and a surgical robot controller 150 as a surgical version of surgical robot controller 50 (FIG. 2). As shown in a 2D view 100, robotic procedural system is operated to surgically remove a portion of a nasal tissue 102 defining a nasal passage 103 within a nasal region 101.

FIGS. 4 A and 4B illustrate a flowchart 200 representative of a control method of the robotic system of FIG. 3.

Referring to FIGS. 3 and 4 A, a stage S202 of flowchart 200 encompasses a surgical planning of surgically removing a portion of nasal tissue 102. In one embodiment of stage S202 as shown, a 3D planning CT image 121 as generated by CT imaging system 120 is interactively displayed by surgical procedure planner 60 whereby a portion of nasal tissue 102 is delineated for surgical removal as symbolized by the hatched box shown in a surgical plan 161.

A stage S204 of flowchart 200 encompasses an insertion of endoscope 150 and surgical robot 140 into nasal passage 103. In one embodiment of stage S204 as shown, endoscope 150 is initially inserted into nasal passage 103 and positioned adjacent the portion of nasal tissue 102, and surgical robot 140 is subsequently inserted into nasal passage 103 and also positioned adjacent the portion of nasal tissue 102 to be surgically removed as viewed by endoscope 150.

Referring to FIGS. 3 and 4B, a stage S206 of flowchart 200 encompasses spatial regi strati on(s) controlled by surgical robot path generator 170 as needed for the surgical procedure. In one embodiment of stage S206 as shown, a coordinate system 144 of surgical robot 140 is registered to a coordinate system 132 of X-ray imaging system 130 and a coordinate system 152 of endoscope 150, which in turn are registered to a coordinate system 122 of CT imaging system 120.

In practice, any known registration technique(s) may be executed during stage S206.

For example, the registrations of surgical robot 140 to X-ray imaging system 130 and endoscope 150 may be achieved via known optical sensing or electromagnetic sensing based registration techniques, or alternatively by using direct image based registration using the fact that surgical robot 140 is visible in 2D/3D procedural x-ray image 131 and 2D endoscope image 151. Further, registration of 2D/3D procedural x-ray image 131 and 2D endoscope image 151 to 3D planning CT image 121 may be performed using skin fiducials and/or anatomical fiducials identifiable in the images and by a computation of a rigid transformation that facilitates registration of surgical robot 140 to 3D planning CT image 121.

A stage S208 of flowchart 200 encompasses an adaptive robotic control of surgical robot 140 along a surgical robot path 171a within nasal region 102. Generally, surgical robot path generator 170 derives surgical robot path 171a from surgical plan 161 (stage S202), and as surgical robot 140 is being navigated along surgical robot path 171a by surgical robot navigator 180, surgical robot path monitor 190 adjusts surgical robot path 171a responsive to a deviation from surgical plan 161 as illustrated by an X-ray image 31a or endoscope image 32a of surgical robot 140 and/or nasal tissue 102.

In one embodiment of stage S208, modular applications 170, 180 and 190 execute a flowchart 210 representative of an adaptive robot control method of the present disclosure.

Referring to FIGS. 3 and 5 A, a stage S212 of flowchart 210 encompasses surgical robot path generator 170 deriving surgical robot path 171a from surgical plan 161 for surgical robot 140, and a stage S214 of flowchart 210 encompasses surgical robot navigator 180 controlling a navigation of surgical robot 140 along surgical robot path 171a in the form of an arc.

Specifically, surgical robot 140 is movable with a pitch motion or a yaw motion, and surgical robot path generator 170 derives a plan to angular move distal link 142 and surgical saw 143 along surgical robot path 171a whereby the arc path will surgically remove the desired portion of nasal tissue 102. Surgical robot navigator 180 properly positions surgical saw 143 abutting nasal tissue 102 in accordance with the spatial registrations (S206) whereby revolute joint 142 is initially actuated to angular move surgical saw 143 along surgical robot path 171. Referring to FIGS. 3 and 5B, upon commencement of stage S214, a stage S216 of flowchart 210 encompasses surgical robot path monitor 190 monitoring 2D/3D procedural x- ray image 131 and/or 2D endoscope image 151 to ascertain, at any given moment, a degree of removal of nasal tissue 20 as illustrated in 2D/3D procedural x-ray image 131 and/or 2D endoscope image 151 compared to the planned degree of removal of nasal tissue 20 delineated within surgical plan 161.

In one embodiment of stage S216, at any given moment, surgical robot path monitor 190 ascertains a distance between an illustrated surgical pathl71b and planned surgical robot path 171a of surgical robot 140 within nasal region 101. If the distance is less than an adjustment threshold, then surgical robot path monitor 190 designates any deviation by illustrated surgical path 171b from planned surgical robot path 171a as minimal.

Conversely, if the distance exceeds the adjustment threshold, then surgical robot path monitor 190 designates by illustrated surgical path 171b from planned surgical robot path 171a as significant.

In a second embodiment of stage S216, at any given moment, surgical robot path monitor 190 ascertains a volume differential between an illustrated tissue removal and a planned tissue removal within nasal region 101. If the volume differential is less than an adjustment threshold (e.g., tissue removal 104 as shown), then surgical robot path monitor 190 designates any deviation from surgical robot path 171a as minimal. Conversely, if the volume differential exceeds the adjustment threshold (e.g., tissue removal 105 as shown), then surgical robot path monitor 190 designates the deviation from surgical robot path 171a as significant.

For either embodiment, if surgical robot path monitor 190 designates a minimal path deviation during stage S216, then surgical robot path 171a is maintained during a stage S218 of flowchart 210. Conversely, if surgical robot path monitor 190 designates a signification path deviation during stage S216, then surgical robot path 171a is adjusted during stage S218 of flowchart 210. For example, for tissue removal 105 of stage S216, surgical robot path 171a is adjusted to robot path 171c during stage S218.

Stages S214-S218 are repeated until the surgical procedure is complete.

To further facilitate an understanding of the present disclosure, the following description of FIGS. 6A-6C teaches inventive principles of the present disclosure for installing medical robot controller 50 (FIG. 1) in imaging systems and/or in a workstation. From this description, those having ordinary skill in the art will appreciate how to apply the inventive principles of the present disclosure to numerous and various types of embodiments for medical robot controller 50.

Referring to FIGS. 6A-6C, a workstation 130 employs a monitor 131 for displaying planning/procedural images 132, a keyboard 133 and a computer 134.

As shown in FIG. 6A, medical robot controller 50a is installed on computer 134 of workstation 130.

As shown in FIG. 6B, medical robot controller 50a is distributed throughout the system with medical procedural planner 60 embodied on a medical robot sub-controller (not shown) installed on planning imaging system 20, and modular applications 70, 80 and 90 embodied on a medical robot sub-controller 50b installed on computer 134 of workstation 130.

As shown in FIG. 6C, medical robot controller 50a is distributed throughout the system medical procedural planner 60 embodied a medical robot sub-controller (not shown) installed on planning imaging system 20, medical robot path generator 70 and medical robot path monitor 90 embodied on a medical robot sub-controller (not shown) installed surgical imaging system 30, and robot navigator 80 embodied on a medical robot sub-controller 50c installed on computer 134 of workstation 130.

Referring to FIGS. 1-6, those having ordinary skill in the art will appreciate numerous benefits of the present disclosure including, but not limited to, an adaptation of a robot path through an anatomical region for implementing a medical plan.

Furthermore, as one having ordinary skill in the art will appreciate in view of the teachings provided herein, features, elements, components, etc. described in the present disclosure/specification and/or depicted in the FIGS. 1-6 may be implemented in various combinations of electronic components/circuitry, hardware, executable software and executable firmware and provide functions which may be combined in a single element or multiple elements. For example, the functions of the various features, elements, components, etc. shown/illustrated/depicted in the FIGS. 1-6 can be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functions can be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which can be shared and/or multiplexed. Moreover, explicit use of the term "processor" should not be construed to refer exclusively to hardware capable of executing software, and can implicitly include, without limitation, digital signal processor ("DSP") hardware, memory (e.g., read only memory ("ROM") for storing software, random access memory ("RAM"), non-volatile storage, etc.) and virtually any means and/or machine (including hardware, software, firmware, circuitry, combinations thereof, etc.) which is capable of (and/or configurable) to perform and/or control a process.

Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof. Additionally, it is intended that such equivalents include both currently known equivalents as well as equivalents developed in the future (e.g., any elements developed that can perform the same or substantially similar function, regardless of structure). Thus, for example, it will be appreciated by one having ordinary skill in the art in view of the teachings provided herein that any block diagrams presented herein can represent conceptual views of illustrative system components and/or circuitry embodying the principles of the invention. Similarly, one having ordinary skill in the art should appreciate in view of the teachings provided herein that any flow charts, flow diagrams and the like can represent various processes which can be substantially represented in computer readable storage media and so executed by a computer, processor or other device with processing capabilities, whether or not such computer or processor is explicitly shown.

Furthermore, exemplary embodiments of the present disclosure can take the form of a computer program product or application module accessible from a computer-usable and/or computer-readable storage medium providing program code and/or instructions for use by or in connection with, e.g., a computer or any instruction execution system. In accordance with the present disclosure, a computer-usable or computer readable storage medium can be any apparatus that can, e.g., include, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus or device. Such exemplary medium can be, e.g., an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system (or apparatus or device) or a propagation medium. Examples of a computer-readable medium include, e.g., a semiconductor or solid state memory, magnetic tape, a removable computer diskette, a random access memory (RAM), a read-only memory (ROM), flash (drive), a rigid magnetic disk and an optical disk. Current examples of optical disks include compact disk - read only memory (CD-ROM), compact disk - read/write (CD- R/W) and DVD. Further, it should be understood that any new computer-readable medium which may hereafter be developed should also be considered as computer-readable medium as may be used or referred to in accordance with exemplary embodiments of the present disclosure and disclosure. Having described preferred and exemplary embodiments of novel and inventive robotic procedural systems, (which embodiments are intended to be illustrative and not limiting), it is noted that modifications and variations can be made by persons having ordinary skill in the art in light of the teachings provided herein, including the FIGS. 1-6. It is therefore to be understood that changes can be made in/to the preferred and exemplary embodiments of the present disclosure which are within the scope of the embodiments disclosed herein.

Moreover, it is contemplated that corresponding and/or related systems incorporating and/or implementing the device or such as may be used/implemented in a device in accordance with the present disclosure are also contemplated and considered to be within the scope of the present disclosure. Further, corresponding and/or related method for manufacturing and/or using a device and/or system in accordance with the present disclosure are also contemplated and considered to be within the scope of the present disclosure.

Claims

1. A robotic procedural system, comprising:

a medical robot (40) operable to medically interact with a structure within an anatomical region; and

a medical robot controller (50),

wherein the medical robot controller (50) is operable to derive a medical robot path from a medical plan delineating a medical interaction by the medical robot (40) with the structure,

wherein the medical robot controller (50) is further operable to control a navigation of the medical robot (40) along the medical robot path within the anatomical region relative to the structure whereby the medical robot (40) medically interacts with the structure, and

wherein, as the medical robot (40) is being navigated by the medical robot controller (50) along the medical robot path, the medical robot controller (50) is further operable to adjust the medical robot path responsive to a deviation by the medical robot (40) from the medical plan as illustrated by a procedural image of at least one of the medical robot (40) and the structure.

2. The robotic procedural system of claim 1,

wherein the medical robot (40) is a surgical robot (140) operable to surgically interact with an anatomical structure within the anatomical region;

wherein the medical robot controller (50) is a surgical robot controller (150) operable to derive a surgical robot path from a surgical plan delineating a surgical interaction by the surgical robot (140) with the anatomical structure;

wherein the surgical robot controller (150) is further operable to control a navigation of the surgical robot (140) along the surgical robot path within the anatomical region relative to the anatomical structure whereby the surgical robot (140) surgically interacts with the anatomical structure; and

wherein, as the surgical robot (140) is being navigated by the surgical robot controller

(150) along the surgical robot path, the surgical robot controller (150) is further operable to adjust the surgical robot path responsive to a deviation by the surgical robot (140) from the surgical plan as illustrated by a procedural image of at least one of the surgical robot (140) and the anatomical structure.

3. The robotic procedural system of claim 1, further comprising:

a planning imaging system (20) operable to generate a planning image illustrative of the structure within the anatomical region,

wherein the planning imaging system (20) is further operable to generate the medical plan inclusive of a delineation of the medical interaction by the medical robot (40) with the structure as illustrated in the planning image of the structure within the anatomical region.

4. The robotic procedural system of claim 1, further comprising:

a procedural imaging system (30) operable to generate the procedural image illustrative of the least one of the medical robot (40) and the structure.

5. The robotic procedural system of claim 1, further comprising:

an endoscope operable to generate the procedural image illustrative of the least one of the medical robot (40) and the structure.

6. The robotic procedural system of claim 1, wherein the medical robot controller (50) includes:

a medical robot path generator (70) operable to derive the medical robot path from the medical plan;

a medical robot navigator (80) operable to control the navigation of the medical robot (40) along the medical robot path within the anatomical region relative to the structure; and a medical robot path monitor (90) operable, as the medical robot (40) is being navigated by the medical robot navigator (80) along the medical robot path, to adjust the medical robot path responsive to the deviation by the medical robot (40) from the medical plan as illustrated by the procedural image of the at least one of the medical robot (40) and the structure.

7. The robotic procedural system of claim 6, further comprising:

a procedural imaging system (30) operable to generate the procedural image illustrative of the least one of the medical robot (40) and the structure,

wherein the medical robot path generator (70) is installed within the procedural imaging system (30).

8. The robotic procedural system of claim 6, wherein the medical robot path monitor (90) is installed within the procedural imaging system (30).

9. The robotic procedural system of claim 1, wherein the medical robot controller (50) adjusts the medical robot path responsive to any deviation by the medical robot (40) from the medical plan as illustrated by the procedural image of the at least one of the medical robot (40) and the structure.

10. The robotic procedural system of claim 1,

wherein the medical robot controller (50) adjusts the medical robot path responsive to a distance deviation by the medical robot (40) from the medical plan exceeding an adjustment threshold; and

wherein the medical robot controller (50) measures the distance deviation between a navigated movement of the medical robot (40) as illustrated in the procedural image and a planned movement of the medical robot (40) in accordance with the medical plan.

11. The robotic procedural system of claim 2,

wherein the surgical robot controller (150) adjusts the surgical robot path responsive to a volume differential deviation by the surgical robot (140) from the surgical plan; and

wherein the surgical robot controller (150) measures the volume differential between a degree of navigated surgical interaction by the surgical robot (140) with the anatomical structure as illustrated in the surgical image and a degree of planned surgical interaction by the surgical robot (140) with the anatomical structure in accordance with the surgical plan.

12. The robotic procedural system of claim 1, wherein an adjustment by the medical robot controller (50) of the medical robot path includes at least one of a modification of the medical robot path and a substitution of the medical robot path.

13. A robot controller (50), comprising:

a medical robot path generator (70) operable to derive a medical robot path from a medical plan delineating a medical interaction by a medical robot (40) with a structure within an anatomical region; a medical robot navigator (80) operable to control a navigation of the medical robot (40) along the medical robot path within the anatomical region relative to the structure whereby the medical robot (40) medically interacts with the structure; and

a medical robot path monitor (90) operable, as the medical robot (40) is being navigated by the robot navigator (80) along the medical robot path, to adjust the medical robot path responsive to a deviation by the medical robot (40) from the medical plan as illustrated by a procedural image of at least one of the medical robot (40) and the structure.

14. The robot controller (50) of claim 13,

wherein the medical robot (40) is a surgical robot (140) operable to surgically interact with an anatomical structure within the anatomical region; and

wherein the medical robot path generator (70) is a surgical robot path generator (170) operable to derive a surgical robot path from a surgical plan delineating a surgical interaction by the surgical robot (140) with the anatomical structure within the anatomical region;

wherein the medical robot navigator (80) is a surgical robot navigator (180) operable to control a navigation of the surgical robot (140) along the surgical robot path within the anatomical region relative to the anatomical structure whereby the surgical robot (140) surgically interacts with the anatomical structure; and

wherein the medical robot path monitor (90) is a surgical robot path monitor (190) operable, as the surgical robot (140) is being navigated by the surgical robot navigator (180) along the surgical medical path, to adjust the surgical robot path responsive to a deviation by the surgical robot (140) from the surgical plan as illustrated by a procedural image of at least one of the surgical robot (140) and the anatomical structure.

15. A robotic procedural method, comprising:

a medical robot controller (50) controlling a navigation of a medical robot (40) along a medical robot path within an anatomical region relative to a structure based on a medical plan delineating a medical interaction of the medical robot (40) with the structure; and

the medical robot controller (50), as the medical robot (40) is being navigated along the medical robot path to thereby medically interact with the structure, adjusting the medical robot path responsive to a deviation by the medical robot (40) from the medical plan as illustrated by a procedural image of at least one of the medical robot (40) and the structure.

16. The robotic procedural method of claim 15, wherein the medical robot (40) is a surgical robot (140);

wherein the medical robot controller (50) is a surgical robot controller (150);

wherein structure is an anatomical structure;

wherein the surgical robot controller (150) controls a navigation of the surgical robot (140) along a surgical robot path within the anatomical region relative to the anatomical structure based on the surgical plan a surgical plan delineating a surgical interaction by the surgical robot (140) with the anatomical structure; and

wherein the surgical robot controller (150), as the surgical robot (140) is being navigated along the surgical robot path to thereby surgically interact with the anatomical structure, adjusting the surgical robot path responsive to a deviation from the surgical plan by the surgical robot (140) as illustrated by a surgical image of at least one of the surgical robot (140) and the anatomical structure.

17. The robotic procedural method of claim 15, further comprising:

the medical robot controller (50) deriving the medical robot path from the medical plan.

18. The robotic procedural method of claim 15, wherein the medical robot controller (50) adjusts the medical robot path responsive to any deviation by the medical robot (40) from the medical plan as illustrated by the procedural image of at least one of the medical robot (40) and the structure.

19. The robotic procedural method of claim 15, wherein the medical robot controller (50) adjusts the medical robot path responsive to the deviation by the medical robot (40) from the medical plan exceeding an adjustment threshold as illustrated by the procedural image of at least one of the medical robot (40) and the structure.