Image guided robotic convergent ablation

1 . A robotic system for executing a surgical procedure on an anatomical structure within an anatomical region, the robotic system comprising:

a plurality of surgical robots including a first surgical robot and a second surgical robot;

a surgical procedure controller configured to autonomously control a navigation of the first surgical robot within the anatomical region relative to the anatomical structure and the second surgical robot within the anatomical region relative to the anatomical structure, the surgical procedure controller configured to:

generate a first surgical plan for executing a first portion of the surgical procedure by the first surgical robot and a second surgical plan, that is different from the first surgical plan, for executing a second portion of the surgical procedure by the second surgical robot;

autonomously direct the navigation of the first surgical robot within the anatomical region relative to the anatomical structure based on the first surgical plan and the navigation of the second surgical robot within the anatomical region relative to the anatomical structure based on the second surgical plan,

autonomously ascertain whether the first surgical plan has been fully executed by the first surgical robot during the first portion of the surgical procedure, and

responsive to the first surgical plan having not been fully executed by the first surgical robot of the plurality of surgical robots, revise the second surgical plan during the surgical procedure to navigate the second surgical robot to autonomously perform a complementary execution of a portion of the first surgical plan unexecuted by the first surgical robot; and

an imaging controller configured to control a generation of a first image illustrative of the navigation of the first surgical robot within the anatomical region relative to the anatomical structure,

wherein the surgical procedure controller ascertains whether the first surgical plan has been fully executed by the first surgical robot as illustrated within the first image.

2 . The robotic system of claim 1 ,

wherein at least one of:

the first surgical robot comprises an epi-surgical robot, the first surgical plan comprises an epi-surgical plan, the second surgical robot comprises an endo-surgical robot, and the second surgical plan comprises an endo-surgical plan; or

the first surgical robot comprises the endo-surgical robot, the first surgical plan comprises the endo-surgical plan, the second surgical robot comprises the epi-surgical robot, and the second surgical plan comprises the epi-surgical plan; and

wherein the surgical procedure controller is a hybrid procedure controller.

3 . The robotic system of claim 2 , further comprising:

an anatomical mapping controller configured to:

control a generation of an anatomical map of the anatomical structure, and

derive the epi-surgical plan and the endo-surgical plan from a planned delineation of the anatomical map of the anatomical structure into at least two zones.

4 . The robotic system of claim 2 , wherein the imaging controller comprises an anatomical imaging controller configured to at least one of:

control a generation of an epi-surgical anatomical image illustrative of a navigation of the epi-surgical robot within the anatomical region relative to the anatomical structure, and

control a generation of an endo-surgical anatomical image illustrative of a navigation of the endo-surgical robot within the anatomical region relative to the anatomical structure; and

wherein at least one of the hybrid procedure controller and the anatomical imaging controller is further configured to:

as illustrated within the epi-surgical anatomical image, ascertain whether the epi-surgical plan has been fully executed by the epi-surgical robot to be navigated within the anatomical region relative to the anatomical structure, and

as illustrated within the endo-surgical anatomical image, ascertain whether the endo-surgical plan has been fully executed by the endo-surgical robot to be navigated within the anatomical region relative to the anatomical structure based on the endo-surgical plan.

5 . The robotic system of claim 2 , further comprising:

at least one of an epi-surgical controller and an endo-surgical controller, wherein the epi-surgical controller is configured to:

control the navigation of the epi-surgical robot within the anatomical region relative to the anatomical structure as directed by the hybrid procedure controller, and

communicate an epi-surgical report to the hybrid procedure controller, the epi-surgical report being informative of the epi-surgical plan not having been fully executed by the epi-surgical robot to be navigated by the epi-surgical controller within the anatomical region relative to the anatomical structure based on the epi-surgical plan, and

wherein the endo-surgical controller is configured to:

control the navigation of the endo-surgical robot within the anatomical region relative to the anatomical structure as directed by the hybrid procedure controller, and

communicate an endo-surgical report to the hybrid procedure controller, the endo-surgical report being informative of the endo-surgical plan not having been fully executed by the endo-surgical robot to be navigated by the endo-surgical controller within the anatomical region relative to the anatomical structure based on the endo-surgical plan.

6 . The robotic system of claim 2 ,

wherein the epi-surgical robot is an epicardial ablation robot;

wherein the epi-surgical plan is an epicardial ablation plan for operating the epicardial ablation robot to ablate an exterior of a heart;

wherein the endo-surgical robot is an endocardial ablation robot;

wherein the endo-surgical plan is an endocardial ablation plan for operating the endocardial ablation robot to ablate an interior of the heart; and

wherein the anatomical region relative to the anatomical structure is a thoracic region relative to a heart.

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

an electrical mapping controller configured to:

control a generation of an electrical map of the heart, and

at least one of:

derive the epicardial ablation plan and the endocardial ablation plan from a planned delineation of the electrical map of the heart into at least two electrical isolation zones, and

assess, within the electric map of the heart, at least one ablated delineation of the heart into at least two electrical isolation zones by at least one of an operation of the epicardial ablation robot based on the epicardial ablation plan and an operation of the endocardial ablation robot based on the endocardial ablation plan.

8 . The robotic system of claim 6 , wherein the imaging controller comprises an ablation imaging controller configured to at least one of:

control a generation of an epicardial ablation image illustrative of a navigation of the epicardial ablation robot within the thoracic region relative to the heart, or

control a generation of an endocardial ablation image illustrative of a navigation of the endocardial ablation robot within the thoracic region relative to the heart; and

wherein at least one of a convergent ablation controller and the ablation imaging controller is further configured to:

as illustrated within the epicardial ablation image, ascertain whether the epicardial ablation plan has been fully executed by the epicardial ablation robot to be navigated within the thoracic region relative to the heart; and

as illustrated within the endocardial ablation image, ascertain whether the endocardial ablation plan has been fully executed by the endocardial ablation robot to be navigated within the thoracic region relative to the heart.

9 . The robotic system of claim 6 , further comprising:

at least one of an epicardial ablation controller and an endocardial ablation controller, wherein the epicardial ablation controller is configured to:

control the navigation of the epicardial ablation robot within the thoracic region relative to the heart as directed by a convergent ablation controller, and

communicate an epicardial ablation report to the convergent ablation controller, the epicardial ablation report being informative of the epicardial ablation plan not having been fully executed by the epicardial ablation robot to be navigated by the epicardial ablation controller within the thoracic region relative to the heart based on the epicardial ablation plan; and

wherein the endocardial ablation controller is configured to:

control the navigation of the endocardial ablation robot within the thoracic region relative to the heart as directed by the convergent ablation controller, and communicate an endocardial ablation report to the hybrid procedure controller, the endocardial ablation report being informative of the endocardial ablation plan not having been fully executed by the endocardial ablation robot to be navigated by the endocardial ablation controller within the thoracic region relative to the heart based on the endocardial ablation plan.

10 . A surgical procedure controller for autonomously controlling a navigation of a plurality of surgical robots within an anatomical region relative to an anatomical structure, the surgical procedure controller comprising:

at least one processor configured to:

generate a first surgical plan for executing a first portion of a surgical procedure on the anatomical structure by a first surgical robot and a second surgical plan, that is different than the first surgical plan for executing a second portion of the surgical procedure on the anatomical structure by a second surgical robot;

autonomously direct a navigation of the first surgical robot within the anatomical region relative to the anatomical structure based on the first surgical plan and a navigation of the second surgical robot within the anatomical region relative to the anatomical structure based on the second surgical plan;

autonomously ascertain whether the first surgical plan has been fully executed by the first surgical robot during the first portion of the surgical procedure as illustrated within a first image illustrative of the navigation of the first surgical robot within the anatomical region relative to the anatomical structure; and

responsive to the first surgical plan having not been fully executed by the first surgical robot, revise the second surgical plan during the surgical procedure to autonomously navigate the second surgical robot of to perform a complementary execution of a portion of the first surgical plan unexecuted by the first surgical robot.

11 . The surgical procedure controller of claim 10 ,

wherein at least one of:

the first surgical robot comprises an epi-surgical robot and the first surgical plan comprises an epi-surgical plan, the second surgical robot comprises an endo-surgical robot, and the second surgical plan comprises an endo-surgical plan; or

first surgical robot comprises an endo-surgical robot, the first surgical plan comprises an endo-surgical plan, the second surgical robot comprises an epi-surgical robot, and the second surgical plan comprises an epi-surgical plan.

12 . The surgical procedure controller of claim 11 , wherein the at least one processor is further configured to derive the epi-surgical plan and the endo-surgical plan from a delineation of a map of the anatomical structure into at least two isolation zones.

13 . The surgical procedure controller of claim 11 , wherein the at least one processor is further configured to at least one of:

ascertain whether the epi-surgical plan has been fully executed by the epi-surgical robot to be navigated within the anatomical region relative to the anatomical structure as illustrated within an epi-surgical image of the navigation of the epi-surgical robot within the anatomical region relative to the anatomical structure; or

ascertain whether the endo-surgical plan has been fully executed by the endo-surgical robot to be navigated within the anatomical region relative to the anatomical structure as illustrated within an endo-surgical image of the navigation of the endo-surgical robot within the anatomical region relative to the anatomical structure.

14 . The surgical procedure controller of claim 11 , wherein the at least one processor is further configured to at least one of:

ascertain whether the epi-surgical plan has been fully executed by the epi-surgical robot to be navigated within the anatomical region relative to the anatomical structure responsive to an epi-surgical report; or

ascertain whether the endo-surgical plan has been fully executed by the endo-surgical robot to be navigated within the anatomical region relative to the anatomical structure responsive to an endo-surgical report.

15 . The surgical procedure controller of claim 11 ,

wherein the epi-surgical robot is an epicardial ablation robot;

wherein the epi-surgical plan is an epicardial ablation plan for operating the epicardial ablation robot to ablate an exterior of a heart;

wherein the endo-surgical robot is an endocardial ablation robot;

wherein the endo-surgical plan is an endocardial ablation plan for operating the endocardial ablation robot to ablate an interior of the heart; and

wherein the anatomical region relative to the anatomical structure is a thoracic region relative to a heart.

16 . A method for autonomously controlling a navigation of a plurality of surgical robots within an anatomical region relative to an anatomical structure, the method comprising:

generating a first surgical plan for executing a first portion of a surgical procedure by a first surgical robot and a second surgical plan, that is different than the first surgical plan, for executing a second portion of the surgical procedure by a second surgical robot;

autonomously directing a navigation of the first surgical robot within the anatomical region relative to the anatomical structure based on the first surgical plan and a navigation of the second surgical robot within the anatomical region relative to the anatomical structure based on the second surgical plan,

controlling a generation of a first image illustrative of the navigation of the first surgical robot within the anatomical region relative to the anatomical structure;

as illustrated within the first image, autonomously ascertaining whether the first surgical plan has been fully executed by the first surgical robot to be navigated within the anatomical region relative to the anatomical structure during the first portion of the first surgical plan; and

responsive to the first surgical plan having not been fully executed by the first surgical robot, revising the second surgical plan during the surgical procedure to autonomously navigate the second surgical robot to perform a complementary execution a portion of the first surgical plan unexecuted by the first surgical robot.

17 . The method of claim 16 , further comprising:

generating the first surgical plan and the second surgical plan from a delineation of the anatomical structure into at least two isolation zones.

18 . The method of claim 16 , further comprising:

ascertaining whether the first surgical plan has been fully executed by the first surgical robot to be navigated within the anatomical region relative to the anatomical structure from a report informative of the navigation of the first surgical robot within the anatomical region relative to the anatomical structure.

19 . The method of claim 16 ,

wherein at least one of:

the first surgical robot comprises an epi-surgical robot and the first surgical plan comprises an epi-surgical plan, the second surgical robot comprises an endo-surgical robot, and the second surgical plan comprises an endo-surgical plan; or

the first surgical robot comprises an endo-surgical robot, the first surgical plan comprises an endo-surgical plan, the second surgical robot comprises an epi-surgical robot, and the second surgical plan comprises an epi-surgical plan.

20 . The method of claim 16 ,

wherein at least one of:

the first surgical robot comprises an epicardial ablation robot, the first surgical plan comprises an epicardial ablation plan for ablating an exterior of a heart, the second surgical robot comprises an endocardial ablation robot, and the second surgical plan comprises an endocardial ablation plan for ablating in interior of the heart; or

the first surgical robot comprises an endocardial ablation robot, the first surgical plan comprises endocardial ablation plan for ablating in interior of the heart, the second surgical robot comprises an epicardial ablation robot, and the second surgical plan comprises an epicardial ablation plan for ablating an exterior of the heart,

wherein the anatomical region relative to the anatomical structure is a thoracic region relative to a heart.