Force-Sensing Percutaneous Robot for Accurate Spinal Screw Placement
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Solution Overview
Problem
Current robotic surgical systems for spinal surgeries are limited by high costs, complex preparation requirements, intrusive design, non-intuitive operation, and vulnerability to malfunctions, which can lead to inaccurate screw placement and increased surgical time, posing risks during minimally invasive procedures.
Innovation Solution
A portable robotic surgical system with a force sensor and end effector for precise positioning of surgical tools, using a percutaneous technique that minimizes tissue damage and allows intuitive operation with minimal training, enabling precise placement of medical implants like screws through a robotic arm with a dilator system that adjusts trajectory and position automatically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If current robotic surgical systems are used for spinal surgeries, then surgical precision can be improved, but the system cost and complexity increase significantly
Solution Approach 1:
The robotic system is divided into separate functional modules: a robotic arm for positioning, a dilator system for access, and a screw placement mechanism. This segmentation allows each component to be optimized independently and simplifies the overall system architecture, reducing complexity while maintaining precision capabilities.
Solution Approach 2:
The robotic arm is designed to perform multiple functions including positioning the dilator, guiding screw placement, and potentially other surgical maneuvers. This multi-functionality reduces the need for multiple specialized devices, thereby reducing overall system complexity and cost while maintaining high precision across different surgical tasks.
2Measurement precision
If current robotic surgical systems are used for spinal surgeries, then surgical precision can be improved, but the preparation time and intrusive design increase
Solution Approach 1:
The system performs preliminary positioning and trajectory planning before the actual surgical procedure. The robotic arm pre-positions the dilator and plans the screw trajectory based on preoperative imaging, allowing the surgeon to proceed directly with the surgical action without time-consuming adjustments during the procedure.
Solution Approach 2:
The robotic system autonomously performs positioning and trajectory adjustment based on preprogrammed parameters and real-time feedback from sensors. This self-service capability eliminates the need for extensive manual setup and calibration by the surgical team, significantly reducing preparation time while maintaining precision.
3Productivity
If manual drilling and screw placement is performed, then surgical time can be reduced, but placement accuracy decreases due to surgeon variability
Solution Approach 1:
The robotic system incorporates sensors that provide real-time feedback on dilator position, screw trajectory, and placement depth. This feedback loop allows the system to automatically adjust parameters to maintain optimal accuracy while operating at high speed, eliminating the variability associated with manual techniques.
Solution Approach 2:
The system replaces manual mechanical drilling and screw placement with a robotically controlled mechanism. This substitution eliminates human variability in motor control and positioning, achieving consistent high-precision screw placement while maintaining rapid surgical throughput through automated high-speed actuation.
4Measurement precision
If image-guided spinal surgeries with optical tracking are used, then screw placement accuracy can be improved, but the operation becomes non-intuitive and requires constant scanning between surgical site and screen
Solution Approach 1:
The robotic system acts as an intermediary between the preoperative imaging data and the actual surgical procedure. It automatically processes the imaging data and translates it into precise robotic movements, eliminating the need for the surgeon to manually interpret images or constantly scan between the surgical site and screens. The surgeon simply provides high-level commands while the robotic system handles the precise positioning.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system reduces surgical time, minimizes tissue damage, and enhances precision, allowing for faster recovery with reduced scarring, while being intuitive and requiring minimal training, thus overcoming the limitations of existing robotic systems.
Implementation Method 1
detecting, by a force sensor, movement of a surgical instrument guide
Data Source
AI summary
Described herein are systems, apparatus, and methods for precise placement and guidance of tools during surgery, particularly spinal surgery, using minimally invasive surgical techniques. Several minimally invasive approaches to spinal surgeries were conceived, percutaneous technique being one of them. This procedures looks to establish a skin opening as small as possible by accessing inner organs via needle-puncture of the skin. The percutaneous technique is used in conjunction with a robotic surgical system to further enhance advantages of manual percutaneous techniques by improving precision, usability and/or shortening surgery time by removal of redundant steps.