Patent Pending — U.S. Patent Application No. 19/735,323. Research use only — not a medical device, and not for clinical, diagnostic, or treatment use.
Sulcora · planning under uncertainty
Required safety margin, not an arbitrary 2 mm.
Fixed standoffs ignore three things every surgeon knows: the advancing probe pushes some structures toward the corridor and others away, a shakier robot needs more room than a rigid frame, and a margin is only as trustworthy as the model behind it. This computes the required standoff per structure — direction-dependent — from a predicted tissue-deformation field and a specific robot's error spec, and widens it when the deformation model or the CT↔MR registration is uncertain (combined in quadrature, inside the same probability inversion). Move the controls; the keep-out envelope reshapes live.
— or drag any slider; the keep-out envelope reshapes live
The targeting-error spec of the system that will execute the plan.
Model & registration uncertainty
How much to trust the deformation prediction and the cross-series (CT↔MR) fusion. Propagated into the same inversion, in quadrature — the margin widens as either grows.
Structures & predicted deformation
Clearance = static distance to the corridor. Deformation = predicted shift (+ toward the corridor, − away).