Collaborative Surgical Instrument Holder for Ergonomic Precision

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Solution Overview

Problem

Traditional robotic holding devices in surgical procedures face challenges in maintaining instruments at a comfortable orientation for surgeons, constraining movement, and accurately tracking instruments with varying geometries during procedures, leading to potential discomfort and inefficiency.

Innovation Solution

A collaborative instrument holder system that allows robotic control over instrument movement in certain degrees of freedom while permitting surgeon control in others, and a dual-registration device for precise tracking of instruments with two reference parameters, ensuring accurate orientation and location regardless of size changes during surgery.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If the robotic arm constrains the instrument in a fixed orientation for surgical precision, then manufacturing precision is improved, but the surgeon's ergonomic comfort deteriorates

Engineering Contradiction:

Improvesurgical precisionVSAvoidergonomic comfort

Core Design Contradiction:

Manufacturing precisionVSEase of operation

Solution Approach 1:

The instrument holder is segmented into a robotic interface portion and a surgeon interface portion, allowing independent optimization of each. The robotic portion maintains precise alignment while the surgeon portion allows ergonomic manipulation through articulated joints.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

An intermediate articulated coupling mechanism is introduced between the robotic arm and the surgical instrument. This intermediary allows the system to maintain robotic precision while accommodating surgeon ergonomic needs through flexible positioning.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If the robotic arm fully constrains the instrument movement for tracking accuracy, then measurement precision is improved, but the surgeon's ability to manipulate the device deteriorates

Engineering Contradiction:

Improvetracking accuracyVSAvoidmanipulation ability

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The system transitions from static full constraint to dynamic selective constraint. The robotic arm dynamically adjusts its level of constraint based on the surgical task, maintaining precision for critical measurements while allowing surgeon manipulation freedom for ergonomic positioning.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

Different degrees of freedom are treated differently: some directions maintain strict robotic constraint for tracking accuracy, while other directions allow surgeon manipulation. This local differentiation of constraint quality enables both precision and ergonomics.

Inventive Principle:

Principle #3Local quality

3Ease of operation

If the instrument holder allows surgeon manipulation for ergonomics, then ease of operation is improved, but the tracking accuracy deteriorates

Engineering Contradiction:

Improveergonomic comfortVSAvoidtracking accuracy

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The system incorporates feedback mechanisms that continuously monitor instrument position and orientation. When the surgeon manipulates the instrument within allowed degrees of freedom, the system receives feedback and adjusts accordingly to maintain tracking accuracy while preserving ergonomic benefits.

Inventive Principle:

Principle #23Feedback

4Manufacturing precision

If the robotic arm maintains fixed instrument orientation for precision, then manufacturing precision is improved, but the surgical procedure time increases

Engineering Contradiction:

Improveinstrument alignmentVSAvoidsurgical procedure time

Core Design Contradiction:

Manufacturing precisionVSProductivity

Solution Approach 1:

The instrument holder is pre-configured with multiple preset ergonomic positions and orientations. This preliminary setup allows the surgeon to quickly switch between positions without time-consuming adjustments, maintaining precision while reducing procedure time.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12193688B2Systems and methods for co-operative control of robotically-positioned surgical instruments

Publication Date: 2025.01.14 ORTHOSOFT ULC

AI summary

A reamer attachment system for attaching a reamer to a robotic arm comprises a reaming guide comprising a guide shaft and a collar attached to the guide shaft, a reamer shaft extending through the collar to articulate against the collar, and a reamer lock couplable to the reamer shaft to engage the collar and prevent axial displacement of the reamer shaft relative to the collar while permitting the reamer shaft to articulate against the collar. A method for collaborative reaming of a bone between a surgical robot and a surgeon comprises positioning a reamer guide at a location in a coordinate system for the surgical robot system using a robotic arm of the surgical robot, coupling a reamer to the reamer guide such that a reamer axis passes through the location, constraining movement of the reamer along the reamer axis, and pivoting the reamer at the location to remove bone.