Robotic Guide Sleeve as Depth Stop for Spinal Tool Trajectory
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Solution Overview
Problem
Current robotic-assisted surgery systems face challenges in accurately positioning surgical tools within the spine, particularly in navigating complex anatomical structures and maintaining precise control during procedures like spinal fusion and tumor removal, which can lead to suboptimal surgical outcomes.
Innovation Solution
A robotic arm system with a guide sleeve that uses computer-executable instructions to determine and achieve desired trajectories and positions of surgical tools based on preoperative data, ensuring accurate insertion and positioning of tools like drills and bone graft delivery devices, with features such as a cannula and depth stop to prevent over-insertion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic arm system with guide sleeve is used to position surgical tools, then positioning accuracy and trajectory precision are improved, but device complexity increases
Solution Approach 1:
The guide sleeve acts as an intermediary mechanical structure between the robotic arm and surgical tools. It provides a predefined trajectory path that constrains and guides the surgical tool during insertion, ensuring precise positioning without requiring complex real-time control algorithms. The guide sleeve translates complex positioning requirements into simple linear motion along a predetermined path.
Solution Approach 2:
The system performs preliminary planning of the surgical trajectory before the actual surgical procedure. The guide sleeve is pre-positioned and pre-oriented based on preoperative imaging and surgical planning, establishing the desired trajectory in advance. This preliminary action eliminates the need for complex real-time adjustments during surgery, simplifying the control system while maintaining high precision.
2Reliability
If the guide sleeve is used as a depth stop to prevent over-insertion, then surgical safety is improved, but the flexibility in tool insertion depth control is reduced
Solution Approach 1:
The guide sleeve system incorporates dynamic depth adjustment capabilities where the depth stop position can be modified based on real-time surgical requirements. The robotic arm can reposition the guide sleeve along the trajectory to accommodate different insertion depths for different surgical tools or different stages of the procedure, maintaining safety while providing adaptability.
Solution Approach 2:
The guide sleeve serves multiple functions: it provides trajectory guidance, acts as a depth stop to prevent over-insertion, and can be repositioned to accommodate different surgical tools with varying length requirements. This multi-functionality allows a single device to maintain surgical safety across different surgical scenarios while adapting to various tool specifications.
Data Source
AI summary
Disclosed herein are systems and methods for a robotic arm guide used as a depth stop. For example, a system for positioning a surgical tool includes a surgical robotic system having a robot arm with a guide sleeve, the guide sleeve defining axial and lateral directions. The system is further configured to (i) receive a surgical plan associated with a subject, the surgical plan including three-dimensional preoperative data related to the subject, (ii) determine, based on the surgical plan, a desired trajectory of a distal end of the surgical tool as the surgical tool is inserted into the guide sleeve, and (iii) transmit one or more control signals to the surgical robotic system, causing the surgical robotic system to orient and position the guide sleeve such that the distal end of the surgical tool follows the desired trajectory when the surgical tool is inserted in the guide sleeve.