Patent ID: 7440793
Filing Date: 2008-10-21
Classification: A61B

Abstract:
1. A computer-assisted method of removing abnormal tissue from a region of interest by way of a reduced number of incisions, said method comprising: generating a three-dimensional (3-D) map of said region of interest comprising abnormal tissue; determining a tissue volume, based on said 3-D map, said tissue volume including the abnormal tissue and an adjacent margin of healthy tissue; determining, based on said tissue volume, at a computing device a surgical plan including at least one incision point and a series of associated excision points associated with said at least one incision point; and controlling movement of a surgical instrument used to excise tissue, to sequentially move to each of said at least one incision point and to each of its associated excision points and excise tissue, resulting in removal of said tissue volume; wherein at least one of said at least one incision point is associated with two or more excision points.