Surgical Assistance System
First Claim
1. A surgical assistance system for operating on biological tissue using a surgical tool attached to an arm of an automatically-controlled surgical instrument, wherein said surgical assistance system comprisesa means for storing and voxelizing medical image data obtained from a biological tissue subject to surgery;
- a means for setting an operative location based on a shape of a biological tissue;
a means for calculating a tool path traveled by the surgical tool to perform surgery at the operative location;
a means for determining a region of interference between said surgical tool and voxels;
a means for determining a hardness of the biological tissue in an interference region;
a means for calculating an optimal tool feed rate corresponding to the determined hardness; and
a means for outputting the feed rate obtained by the calculations to said surgical instrument.
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Accused Products
Abstract
A surgical assistance system for operating on biological tissue using a surgical tool attached to an arm of an automatically-controlled surgical instrument so that an optimal feed rate of the tool is calculated and outputted to the surgical instrument, the system including: a device for storing and voxelizing medical image data obtained from a biological tissue subject to surgery; a device for setting an operative location based on the shape of the biological tissue; a device for calculating a tool path along which the tool travels to perform surgery at an operative location; a device for determining the region of interference between the tool and the voxels; a device for determining the hardness of the biological tissue in the interference region; a device for calculating an optimal tool feed rate corresponding to the hardness; and a device for outputting the feed rate obtained by the calculations to the surgical instrument.
85 Citations
4 Claims
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1. A surgical assistance system for operating on biological tissue using a surgical tool attached to an arm of an automatically-controlled surgical instrument, wherein said surgical assistance system comprises
a means for storing and voxelizing medical image data obtained from a biological tissue subject to surgery; -
a means for setting an operative location based on a shape of a biological tissue; a means for calculating a tool path traveled by the surgical tool to perform surgery at the operative location; a means for determining a region of interference between said surgical tool and voxels; a means for determining a hardness of the biological tissue in an interference region; a means for calculating an optimal tool feed rate corresponding to the determined hardness; and a means for outputting the feed rate obtained by the calculations to said surgical instrument. - View Dependent Claims (2, 3, 4)
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Specification