机器人激光手术系统实现毫米级精准切削，可实时避让深层组织。
See, Plan, Cut: MPC-Based Autonomous Volumetric Robotic Laser Surgery with OCT Guidance
- 基于OCT与激光的多尺度融合，实现术中三维规划与闭环反馈。
- 切削轨迹误差仅0.842mm，相比传统方法分割一致性提升64.8%。
- 适合需要高精度、微创切除的外科场景，如神经或眼科手术。
机器人激光系统具备亚毫米级、非接触式高精度组织切除潜力，但现有平台缺乏体积化规划与术中反馈。本文提出RATS（机器人辅助组织手术）系统，一种智能光机电一体化、基于光学相干断层扫描（OCT）引导的机器人平台，用于外科应用中的自主体积化软组织切除。RATS集成宏观级RGB-D成像、微观级OCT和光纤耦合手术激光，通过新颖的多阶段校准流程，实现OCT到激光的校准精度达0.161±0.031mm（在组织模拟物和离体猪组织上）。超高斯激光-组织相互作用（LTI）模型以平均均方根误差0.231±0.121mm刻画消融坑形态，优于高斯基线模型。基于采样的模型预测控制（MPC）框架直接作用于OCT体素数据，生成满足约束的切除轨迹并实现闭环反馈，达到0.842mm RMSE，相较开环执行使交并比一致率提升64.8%。结合OCT，RATS可探测深层结构并动态调整规划目标以保护它们，验证了临床可行性。
原文摘要 · Abstract (English)
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedback. We present RATS (Robot-Assisted Tissue Surgery), an intelligent opto-mechanical, optical coherence tomography (OCT)-guided robotic platform designed for autonomous volumetric soft tissue resection in surgical applications. RATS integrates macro-scale RGB-D imaging, micro-scale OCT, and a fiber-coupled surgical laser, calibrated through a novel multistage alignment pipeline that achieves OCT-to-laser calibration accuracy of 0.161+-0.031mm on tissue phantoms and ex vivo porcine tissue. A super-Gaussian laser-tissue interaction (LTI) model characterizes ablation crater morphology with an average RMSE of 0.231+-0.121mm, outperforming Gaussian baselines. A sampling-based model predictive control (MPC) framework operates directly on OCT voxel data to generate constraint-aware resection trajectories with closed-loop feedback, achieving 0.842mm RMSE and improving intersection-over-union agreement by 64.8% compared to feedforward execution. With OCT, RATS detects subsurface structures and modifies the planner's objective to preserve them, demonstrating clinical feasibility.
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