Controlled dissection of biological tissue
View Patent ↗A robotic surgical system includes a surgical instrument configured to cut biological tissues and an imaging system configured to image the biological tissues. Based on one or more images of the biological tissue generated by the imager, the robotic surgical system operates the surgical instrument to cut the biological tissue according to a desired dissection of the tissue. The robotic surgical system operates the surgical instrument to partially or wholly automatically perform one or more cuts into the biological tissue to achieve the desired dissection.
1. A system comprising:
a camera;
a retractor;
a surgical instrument; and
a controller operably coupled to the camera and the surgical instrument, wherein the controller comprises a computing device programmed to perform operations comprising:
receiving information indicative of a desired dissection of a biological tissue;
imaging the biological tissue, using the camera, to generate an initial image of the biological tissue;
determining, based on the initial image and the desired dissection, an initial trajectory of the surgical instrument to cut the biological tissue;
controlling the surgical instrument based on the initial trajectory such that the surgical instrument makes an initial cut into the biological tissue;
after the surgical instrument has made the initial cut into the biological tissue, imaging the biological tissue, using the camera, to generate a subsequent image of the biological tissue, wherein the subsequent image shows the initial cut and at least a portion of the biological tissue surrounding the initial cut;
determining, based on the subsequent image and the information indicative of the desired dissection, whether two portions of biological tissue opposite the initial cut can be separated by the retractor; and
responsive to determining that the two portions of biological tissue opposite the initial cut can be separated by the retractor, (i) positioning the retractor between the two portions of biological tissue opposite the initial cut, and (ii) controlling the retractor to apply a separating force between the two portions of biological tissue opposite the initial cut.
2. The system of claim 1 , wherein the operations further comprise:
determining, based on the subsequent image and the desired dissection, whether the initial cut has achieved the desired dissection; and
responsive to determining that the initial cut has not achieved a depth of the desired dissection, (i) determining at least one subsequent trajectory of the surgical instrument to cut deeper into the biological tissue, and (ii) controlling the surgical instrument based on the at least one subsequent trajectory, such that the surgical instrument makes at least one subsequent cut into the biological tissue, wherein the at least one subsequent cut is deeper than the initial cut.
3. The system of claim 1 , wherein the camera is disposed on an armature, wherein the armature controls at least one of the location and the orientation of the camera, and wherein the operations further comprise:
determining whether the subsequent image shows the biological tissue on both sides of the initial cut; and
responsive to determining that the subsequent image does not show the biological tissue on both sides of the initial cut, controlling the armature to position the camera to provide a view of the biological tissue on both sides of the initial cut.
4. The system of claim 1 , wherein the surgical instrument comprises a surgical laser, wherein controlling the surgical instrument based on the initial trajectory such that the surgical instrument makes an initial cut into the biological tissue comprises controlling a direction and an amplitude of a beam of illumination emitted by the surgical laser to apply sufficient illumination energy to regions of the biological tissue along the initial trajectory to at least partially ablate the regions of the biological tissue along the initial trajectory.
5. The system of claim 1 , wherein the surgical instrument comprises at least one electrode, wherein the at least one electrode is disposed on an armature, wherein controlling the surgical instrument based on the initial trajectory such that the surgical instrument makes an initial cut into the biological tissue comprises controlling the location of the electrode using the armature to apply sufficient electrical current to regions of the biological tissue along the initial trajectory to at least partially ablate the regions of the biological tissue along the initial trajectory.
6. The system of claim 1 , wherein the surgical instrument comprises a scalpel, wherein the scalpel is disposed on an armature, wherein controlling the surgical instrument based on the initial trajectory such that the surgical instrument makes an initial cut into the biological tissue comprises controlling the location of the scalpel using the armature to cut biological tissue along the initial trajectory.
7. The system of claim 1 , wherein the retractor is disposed on an armature that is controllable by the controller to control at least one of the location and the orientation of the retractor, and wherein at least one of a magnitude of the separating force or a displacement between the portions of biological tissue is controllable by the controller.
8. The system of claim 1 , wherein the camera obtains images based on light of a first wavelength received by the camera.
9. The system of claim 8 , further comprising a light source that emits light of the first wavelength, wherein imaging the biological tissue using the camera comprises controlling the light source to sequentially illuminate a plurality of regions of the biological tissue.
10. The system of claim 9 , wherein the light emitted by the light source causes a fluorophore to emit light of a second wavelength, and wherein the camera obtains images based on light of the second wavelength received by the camera.