Robotic surgical system and method for automated therapy delivery

摘要

A method of navigating a medical device through a body of a patient includes providing a topography of at least a portion of the body, accepting user input defining a navigation path, robotically navigating the medical device to a starting point on the path, and robotically navigating the medical device along the navigation path to an endpoint. Waypoints defining the navigation path may be input on a graphical representation of the topography using a user interface such as a pointing device or touchscreen. The navigation path may also be defined by tracing a substantially continuous path on the graphical representation. A therapy may be administered while robotically navigating the medical device along the navigation path, either forward or in reverse, or while navigating the medical device along a return path defined by a plurality of virtual breadcrumbs generated as the medical device traverses the navigation path.

主权项

1. A therapeutic device control system, said system comprising:
a servo-driven therapeutic device manipulation system, said manipulation system having at least three degrees of freedom; at least one therapeutic device carried by said manipulation system; a user interface including an input device that permits a user to define a plurality of target points on a tissue surface; a controller for actuating said manipulation system to navigate said at least one therapeutic device to at least one target point of said plurality of target points responsive to the user's definition of the plurality of target points; a memory device for storing a plurality of reference points, wherein said plurality of reference points is generated by periodically measuring a position of the therapeutic device while navigating the at least one therapeutic device to the at least one target point; and a processor for generating a return path from said plurality of reference points, wherein said controller actuates said manipulation system to maneuver the at least one therapeutic device along the return path.