Robotic Cut Guide Positioning for Patient Movement Compensation
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Solution Overview
Problem
Current surgical cutting guide placement is often imprecise due to patient movement, lack of experience, or obstructed visual access, and robotics-based solutions come with high costs and longer surgical times.
Innovation Solution
A robotic arm system with a tracking and control system that uses a plurality of zones around the target object to accurately position a robotic end effector with a cut guide, allowing for precise alignment and movement within predetermined planes or lines, while allowing surgeon control and autonomy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual cut guide placement is used, then surgeon experience and visual access are required, but placement precision deteriorates due to patient movement and obstruction
Solution Approach 1:
The patent replaces manual mechanical placement of cut guides with a robotic arm system that uses image guidance and computer control. The robotic arm positions the cut guide based on pre-operative imaging and real-time tracking, eliminating the need for direct visual access and manual placement by the surgeon. This substitution of mechanical/manual operations with automated robotic control resolves the contradiction between placement precision and ease of operation.
2Measurement precision
If robotic arm system is used, then cut guide placement precision is improved, but surgical operation time increases
Solution Approach 1:
The system performs preliminary actions by pre-planning the cut guide position and trajectory using pre-operative imaging (CT or MRI) before surgery. The robotic arm is pre-programmed with the optimal placement coordinates and orientation. During surgery, the system only requires registration and verification, significantly reducing the actual surgical operation time while maintaining high placement precision.
Solution Approach 2:
The system implements real-time feedback through tracking markers and imaging systems that monitor the robotic arm position and cut guide placement. This closed-loop feedback allows for rapid verification and adjustment, ensuring precision without requiring excessive time for manual checking and correction, thus reducing overall surgical operation time.
3Measurement precision
If robotic arm system is used, then cut guide placement precision is improved, but system cost increases
Solution Approach 1:
The robotic arm system is designed with multi-functionality to justify its cost and complexity. It can perform multiple surgical tasks including cut guide placement, bone cutting, implant positioning, and real-time imaging guidance. This universality allows a single expensive robotic system to replace multiple separate devices and procedures, providing cost-effectiveness through consolidation while maintaining high precision across all functions.
Data Source
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AI summary
Embodiments of a system and method for surgical tracking and control are generally described herein. A system may include a robotic arm configured to allow interactive movement and controlled autonomous movement of an end effector, a cut guide mounted to the end effector of the robotic arm, the cut guide configured to guide a surgical instrument within a plane, a tracking system to determine a position and an orientation of the cut guide, and a control system to permit or prevent interactive movement or autonomous movement of the end effector.