Bilateral Robotic Spinal Endoscopy With Synchronized Arm Navigation
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Solution Overview
Problem
Current robotic surgery systems for spinal endoscopy lack the precision and safety required due to separate robotic arms on separate carts, leading to inaccurate placement and potential harm to nervous structures, and rely heavily on radiation exposure for navigation.
Innovation Solution
A centrally coordinated, synchronized robotic system with multiple arms on a single chassis, using navigation cameras and markers for precise port placement and movement, minimizing radiation exposure by robotically guiding working channels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a large number of instruments are introduced into the spinal canal for spinal endoscopy, then the surgical field can be adequately accessed and manipulated, but the available working space is limited and instrument collision becomes a significant problem
Solution Approach 1:
The system is divided into two independent robotic arms, each capable of performing different surgical tasks. The first robotic arm is dedicated to insertion and positioning of instruments, while the second robotic arm performs manipulation and retraction. This segmentation allows multiple instruments to operate simultaneously without collision, as each arm has a specialized function and controlled workspace.
Solution Approach 2:
A robotic retractor is introduced as an intermediary device that actively manages the surgical workspace. The retractor can dynamically adjust to maintain optimal viewing angles for the endoscope and create sufficient space for instrument manipulation. This intermediary device mediates between the limited spinal canal space and the multiple instruments needed for surgery, preventing collisions while maintaining accessibility.
2Ease of operation
If traditional open surgery methods are used, then adequate exposure and control are achieved, but patient trauma is significant and recovery time is prolonged
Solution Approach 1:
Traditional manual open surgery is replaced with a robotic-assisted minimally invasive system. The robotic arms provide precise mechanical control for instrument manipulation, while the endoscope provides visual feedback. This substitution allows complex surgical tasks to be performed through small incisions rather than large open incisions, significantly reducing patient trauma and recovery time while maintaining surgical control.
Solution Approach 2:
The robotic system provides dynamic control capabilities that adapt to the surgical needs in real-time. The robotic arms can adjust their positions, speeds, and forces dynamically during surgery, allowing for precise manipulation of instruments within the constrained spinal canal space. This dynamic control compensates for the limited physical access, providing surgical control comparable to open surgery while maintaining the benefits of minimally invasive access.
3Object-affected harmful factors
If minimally invasive endoscopic techniques are used, then patient trauma is reduced, but the surgical field is constrained and instrument manipulation is difficult
Solution Approach 1:
The robotic arms act as intermediaries between the surgeon and the surgical field. They provide extended reach and dexterity within the constrained spinal canal space, allowing for precise instrument manipulation that would be difficult or impossible to achieve directly through small incisions. The robotic system translates the surgeon's commands into precise movements within the limited workspace, maintaining ease of operation while preserving the minimally invasive benefits.
Solution Approach 2:
The robotic system provides dynamic adaptation to the constrained surgical environment. The robotic arms can adjust their degrees of freedom, movement speeds, and positioning in real-time to optimize instrument manipulation within the limited space. This dynamic capability allows for complex manipulation tasks to be performed efficiently despite the constrained access, maintaining ease of operation while preserving patient trauma reduction.
Data Source
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AI summary
A robotically controlled surgical system is provided. In some embodiments, the inventive system is a centrally coordinated and synchronized robotic system for spinal robotic endoscopy procedures, optionally for bilateral spinal robotic endoscopy procedures. The system comprises multiple robotic arms that each can hold, place and/or manipulate at least one end effector, port, camera or navigation element, such as a marker, for use in a spinal endoscopy procedure. The ports may take the form of working channels or trocars for providing access to the surgical field for end effectors. The end effectors may include any surgical tools useful for performing spinal endoscopy procedures. The cameras and navigation elements are for providing guidance for the movement of the robotic arms and deployment of the ports, end effectors and tools. The inventive system allows for safe, precise, bilateral robotic endoscopy with minimal risk to delicate nervous system structures and little exposure to radiation.