Design-centric Method for an Augmented Reality Robotic Surgery

Abstract

A design-centric approach to the development process of an augmented reality (AR) robotic system is proposed. The development of the system is motivated by the medical challenges in large tumor treatment using radiofrequency (RF) ablation. AR guidance and robot assistance is used to reduce the high level of uncertainties associated with overlapping ablation technique during the treatment of large tumor. In addition to the open ended nature of the design cycle, specific technical aspects and substantial engineering analysis were incorporated to the development process to ensure functional feasibility, scientifically sounded and clinically viable operation workflow, and an avenue to design optimization. The methodical analysis was conducted using mathematical model-based processes. Kinematic models of machine-environment interaction and relevant clinical tasks were analyzed to justify the problem specific design goals. The system performance was further assessed through experimental studies.