Handheld Surgical Trajectory Assembly for Precise Tool Alignment
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Solution Overview
Problem
Existing surgical tools face challenges with physical guides that require significant setup time and navigation systems that distract users from the surgical site, while large robotic arms are cumbersome in operating rooms.
Innovation Solution
A hand-holdable robotic instrument with a trajectory assembly and actuators that allow for precise alignment of surgical tools in two degrees of freedom, enabling manual support and robotic motion without the need for passive arms, combined with a navigation system for real-time tracking and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If physical guides are used to constrain surgical tools, then drilling accuracy is improved, but setup time increases significantly
Solution Approach 1:
The patent extracts the essential function of physical guides (trajectory constraint) and implements it through a virtual trajectory system. The guide member is replaced by a virtual trajectory defined in the navigation system, which is tracked using optical or electromagnetic tracking technology. This eliminates the time-consuming physical guide attachment process while maintaining drilling accuracy through real-time virtual trajectory guidance.
Solution Approach 2:
The patent replaces the mechanical physical guide system with a virtual trajectory system. Instead of using physical constraints to guide the drill, the system uses a virtual trajectory displayed on a navigation screen that the surgeon follows. The guide member is replaced by virtual guidance mechanisms including tracked markers and real-time position feedback, eliminating mechanical attachment while preserving guidance functionality.
2Measurement precision
If navigation systems with displays are used to track tool position, then trajectory alignment is improved, but user attention is diverted from the surgical site
Solution Approach 1:
The patent moves the navigation display from a separate 2D screen to an augmented reality dimension overlaid on the surgical field. The virtual trajectory is projected or displayed in the surgeon's field of view, allowing simultaneous observation of both the surgical site and trajectory guidance. This dimensional integration eliminates the need to shift attention between the surgical site and separate display.
Solution Approach 2:
The patent introduces an intermediary augmented reality interface that bridges the surgical site and navigation information. Instead of requiring direct viewing of a separate display, the system uses AR overlays, head-mounted displays, or surgical loupes with integrated navigation to present trajectory information within the surgeon's natural field of view, maintaining focus on the surgical site while providing precise alignment guidance.
3Manufacturing precision
If large robotic arms with six degrees of freedom are used, then surgical precision is improved, but maneuverability in the operating room deteriorates
Solution Approach 1:
The patent segments the robotic system into a compact handheld instrument with integrated actuators rather than a large external robotic arm. The guidance functionality is divided into modular components: a handheld body, a trajectory assembly with guide member, and integrated actuators. This segmentation allows the system to maintain surgical precision through controlled movement while improving maneuverability by eliminating the need for large external robotic arms.
Solution Approach 2:
The patent implements dynamic adjustment capabilities within the handheld instrument, allowing real-time modification of the trajectory axis through integrated actuators. The guide member can be dynamically repositioned and reoriented during the procedure, providing adaptability comparable to six-degree-of-freedom robotic arms but in a compact, maneuverable form factor that can be easily positioned and adjusted by the surgeon.
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
Facilitates efficient and precise surgical tool placement, reducing setup time and user distraction, and providing a more maneuverable and user-friendly alternative to large robotic systems.
Implementation Method 1
The trajectory assembly configured to convert linear movement of the actuators into pivotal movement of the guide member to adjust a trajectory axis
Data Source
AI summary
The present teachings provide a hand-holdable body (14) adapted to be freely holdable by a hand of a user; and a trajectory assembly operatively connected with the hand-holdable body, the trajectory assembly including: a shaft (76) extending from the hand-holdable body; a pivot frame (26) coupled with the shaft. The trajectory assembly includes a guide member (20) pivotally connected with the pivot frame; a support member outwardly extending from and connected with the guide member; two actuators coextending and substantially parallel to an axis of the shaft with each actuator pivotally connected with the support member. The trajectory assembly converts linear movement of the actuators into pivotal movement of the guide member to adjust a trajectory axis. The guide member is adjustable to a target trajectory, adjusting the trajectory axis of the guide member in at least two degrees of freedom to align the trajectory axis with the target trajectory.