Robotic laser osteotomy through penscriptive structured light visual servoing.

Journal: International journal of computer assisted radiology and surgery
PMID: 30730030

Abstract

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.

Authors

  • Jamil Jivraj
    Biophotonics & Bioengineering Laboratory, Department of Electrical & Computer Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, Canada. jjivraj@ryerson.ca.
  • Ryan Deorajh
    Biophotonics & Bioengineering Laboratory, Department of Electrical & Computer Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, Canada.
  • Phillips Lai
    Biophotonics & Bioengineering Laboratory, Department of Electrical & Computer Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, Canada.
  • Chaoliang Chen
    Biophotonics & Bioengineering Laboratory, Department of Electrical & Computer Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, Canada.
  • Nhu Nguyen
    Biophotonics & Bioengineering Laboratory, Department of Electrical & Computer Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, Canada.
  • Joel Ramjist
    Biophotonics & Bioengineering Laboratory, Department of Electrical & Computer Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, Canada.
  • Victor X D Yang
    Institute of Medical Science, School of Graduate Studies, Faculty of Medicine, University of Toronto, Toronto, Ontario, Canada; Department of Surgery, University of Toronto, Toronto, Ontario, Canada; Faculty of Applied Science and Engineering, University of Toronto, Toronto, Ontario, Canada; Division of Neurosurgery, Sunnybrook Health Sciences Centre, Brain Sciences Program/Imaging Research, Sunnybrook Research Institute, Toronto, Ontario, Canada; Biophotonics and Bioengineering Laboratory, Ryerson University, Toronto, Ontario, Canada; Department of Electrical and Computer Engineering, Ryerson University, Toronto, Ontario, Canada.

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