Automatic Knife Stop for Fibula Cutting in Surgical Robots
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Solution Overview
Problem
Surgical robots guided by conventional optical positioning systems face challenges in accurately cutting the fibula without damaging accompanying blood vessels, as they lack an effective automatic stop mechanism for osteotomy, leading to potential vessel damage and reduced surgical precision.
Innovation Solution
An automatic knife stop device for fibula cutting, comprising an acquisition module to determine the fibula's diameter and record cutting positions, a threshold module to set dynamic cutting thresholds based on real-time force data, and a judgment module to send stop commands to the cutting saw when the cutting force exceeds predetermined thresholds or the cutting position deviates beyond a preset coefficient of the fibula's diameter, thereby preventing vessel damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical navigation locator is used to control cutting position, then positioning accuracy is improved, but the risk of damaging blood vessels increases due to lack of automatic stop mechanism
Solution Approach 1:
The patent implements a feedback mechanism by continuously monitoring cutting force during the osteotomy process. The system compares real-time cutting force data against pre-set threshold values, and automatically stops the cutting when the threshold is exceeded, indicating proximity to the fibula end. This closed-loop feedback system resolves the contradiction by maintaining positioning accuracy while adding automatic safety control to prevent vessel damage.
Solution Approach 2:
The system enables the cutting robot to autonomously determine when to stop cutting by using its own sensing capabilities (force sensors) and pre-programmed threshold values. The robot self-regulates the cutting process without requiring continuous external intervention, thereby maintaining precision while preventing damage through automated decision-making based on real-time force feedback.
2Productivity
If cutting is performed without automatic stop mechanism, then cutting speed is improved, but surgical precision deteriorates due to potential vessel damage
Solution Approach 1:
The system performs preliminary actions by pre-setting the cutting force threshold values and safety parameters before the actual cutting begins. The threshold module configures the stop criteria in advance based on the specific fibula characteristics and surgical requirements, allowing the cutting to proceed at high speed while maintaining precision through pre-programmed safety constraints.
Solution Approach 2:
Real-time force feedback continuously monitors the cutting process and provides immediate information about proximity to the fibula end. This feedback loop maintains surgical precision by enabling automatic stop at the appropriate moment without requiring slow, cautious manual control, thus preserving both speed and precision.
3Reliability
If dynamic cutting threshold is used based on real-time force data, then reliability is improved by preventing vessel damage, but device complexity increases
Solution Approach 1:
The system manages complexity by dynamically adjusting a single critical parameter (cutting force threshold) based on real-time force measurements. Rather than implementing a complex multi-parameter control system, the invention focuses on monitoring and responding to changes in cutting force, which naturally indicates proximity to the fibula end. This single-parameter dynamic adjustment achieves reliable vessel protection with relatively simple control logic.
Data Source
AI summary
The present application provides an automatic knife stop device and a system for fibula cutting, a computer equipment, and a medium. The device includes: an acquisition module; a threshold module; and a judgment module. The present application can avoid the destruction of blood vessels during shaping and greatly improve the success rate of surgery, while greatly improve the robustness of the control system by increasing the strength of the force feedback signal.