Penscriptive Depth-Controlled Robotic Laser Osteotomy
Abstract
Bone cutting in surgery is currently done using un-intelligent tools that depend on the proficiency of the surgeon to prevent damage to underlying critical structures. As one can imagine, damage isn’t always prevented. Iatrogenic damage to dura and sub-dural neural structures during osteotomical procedures such as a craniotomy can result in increased patient morbidity. This dissertation proposes the development of a robot-guided laser osteotome (bone cutter) with the use of inline optical coherence tomography (OCT) to precisely control the cutting depth in real-time. The all-fiber system design integrates a high peak-power pulsed Yb-doped fiber laser (1064nm) coupled directly into the sample arm of a swept-source OCT system (λc = 1310nm) with a fourth-order power disparity between the OCT system and fiber laser. Sub-millimeter accuracy was achieved in percussion drilling of phantom and porcine bone. Through the use of optical topographic imaging (OTI), this work presents a novel method for the surgeon to identify arbitrary trajectories for desired cuts. A surgical pencil is used to demarcate cutting trajectories for the robot to follow directly onto the boney surface. OTI imaging combined with a novel algorithm developed through this work allows the penscribed line to be isolated and translated into spatial attitude information for the robot to guide the end effector-mounted laser along. Sub-millimeter trajectory following accuracy was achieved. This work also demonstrates…
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