Modelling and control of a water jet cutting probe for flexible surgical robot

Surgical removal of cancerous tissue from the spine is limited by the inability of hand held drills and cutting tools to reach small crevices present in complex bones such as the spinal column, especially on the anterior side. In addition, the high speed rotating mechanisms used presently are subject to stability issues when manoeuvring around tortuous bone forms. We report on the design and experimental testing of a novel flexible robotic surgical system which addresses these issues. The robot consists of a flexible probe, a water jet cutting system, and a haptic feedback controller. The water jet cutting system consists of a flexible end effector capable of bending around the anterior of the spinal column for tissue removal. A new experimental method of controlling the depth of water jet cut is described. The haptic feedback controller is based on a constraint set approach to define 3D boundaries, based on five key types of constraints. Experimental outcomes of measuring the depth of water jet cut were combined with haptic regional constraints with the aim of improving the safety of surgical procedures. The reliability, accuracy and performance of the prototype robot were tested in a mock surgical procedure on the lower lumbar vertebrae. Results show promise for the implementation of water jet cutting for robotic surgical spinal procedures.