Handheld Bone Cutting Motion Compensation for MIS Accuracy
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Solution Overview
Problem
Minimally invasive surgery (MIS) poses challenges in accurately placing implants due to reduced visibility and access through small incisions, requiring specialized instrumentation and skilled techniques, leading to inconsistent and unpredictable results.
Innovation Solution
A robotic surgery system with a handheld manipulator equipped with a motion compensation assembly and a controller that automatically adjusts the bone cutting tool to maintain it within a desired cutting envelope, compensating for aberrant movements using optical or mechanical tracking systems and potential field analysis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If minimally invasive surgery is performed with smaller incisions, then tissue trauma is reduced and recovery is accelerated, but the surgeon's ability to view and access anatomy is reduced, leading to inaccurate implant placement
Solution Approach 1:
The system employs real-time tracking of the surgical instrument's position and orientation relative to pre-operative imaging data, providing continuous feedback to the surgeon. This allows the surgeon to see the instrument's location in 3D space and make precise adjustments, maintaining implant placement accuracy despite the limitations of minimally invasive access.
Solution Approach 2:
The patent introduces an intermediary system consisting of tracking markers, imaging technology, and software that mediates between the surgeon's manual instrument manipulation and the actual implant placement. This intermediary layer compensates for the reduced direct visualization by providing indirect but precise spatial information.
2Measurement precision
If conventional surgical techniques are used to maintain accuracy, then implant placement precision is achieved, but the complexity of instrumentation and training requirements increase
Solution Approach 1:
The system allows the surgeon to maintain direct manual control of the surgical instrument while the tracking system automatically provides spatial information and guidance. The surgeon's manual dexterity is enhanced rather than replaced, reducing the need for complex automated robotic systems while maintaining precision.
3Ease of operation
If handheld instrumentation is used for minimally invasive surgery, then surgical access is improved, but control over the instrument's position and orientation becomes difficult, leading to aberrant tissue removal
Solution Approach 1:
Real-time tracking provides continuous feedback on the instrument's position and orientation, allowing the surgeon to detect and correct deviations from the planned surgical path. This feedback loop maintains precision despite the ease of manual manipulation afforded by handheld instruments.
Data Source
AI summary
A robotic surgery system for cutting a bone of a patient includes a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone. The handheld manipulator includes a cutting tool, a handle, and an actuator coupled between the handle and the cutting tool such that the actuator is configured to move the cutting tool relative to the handle. The system also includes a controller programmed to control the actuator to compensate for both operator tremor and patient movement.