Selective Haptic Guide Zone Activation for Surgical Tool Alignment
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Solution Overview
Problem
Existing surgical CAS systems lack efficient methods for aligning surgical tools with precision and orientation, particularly in minimally-invasive procedures, and often result in conflicting haptic feedback from overlapping zones, prolonging surgeries and increasing costs.
Innovation Solution
A computer-assisted surgery (CAS) system that generates virtual haptic geometries to guide surgical tools, allowing selective and sequential activation of haptic zones to prevent interference, ensuring precise alignment and orientation using a robotic arm with force feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple haptic guide zones are activated simultaneously to provide comprehensive guidance, then the surgeon receives more haptic feedback information, but conflicting haptic feedback occurs when zones overlap causing tool movement constraints in opposite directions
Solution Approach 1:
The system dynamically activates and deactivates haptic guide zones based on the real-time position of the surgical tool. As the tool moves through different spatial regions, different zones are selectively activated to provide haptic feedback, avoiding simultaneous activation of overlapping zones that would create conflicting forces. This dynamic switching maintains haptic feedback accuracy while preserving tool movement freedom.
2Ease of operation
If manual alignment methods are used to position surgical tools, then the surgeon has full control over tool positioning, but the process is time-consuming and frustrating requiring manual searching for proper orientation
Solution Approach 1:
The system provides real-time haptic feedback to the surgeon during tool positioning. When the surgical tool approaches the correct orientation and position within a haptic guide zone, the system provides tactile feedback signals that guide the surgeon toward proper alignment. This feedback mechanism maintains surgeon control while dramatically reducing the time required to achieve proper tool orientation compared to manual searching methods.
3Manufacturing precision
If virtual boundaries are established to constrain surgical tool operation, then precision is improved by defining allowed and prohibited areas, but the system becomes complex requiring coordination of multiple overlapping boundaries
Solution Approach 1:
The surgical space is divided into multiple discrete haptic guide zones, each with its own virtual boundary and haptic feedback characteristics. Instead of managing one complex overlapping boundary system, the patent segments the space into manageable zones that are activated independently based on tool position. This segmentation simplifies boundary management while maintaining precision through localized haptic guidance in each zone.
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 efficiently aligns surgical tools with patient anatomy, reducing surgery time and minimizing conflicts between overlapping haptic zones, thereby enhancing precision and reducing procedural duration.
Implementation Method 1
These CAS systems may be equipped with force feedback controls that provide the surgeon with haptic feedback when, for example, the surgical tool interacts with certain pre-established virtual boundaries.
Data Source
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AI summary
A method for activating a virtual haptic geometry based on a position of a portion of an instrument relative to a target feature comprises detecting a presence of a reference point of an instrument within a threshold distance of a target feature. A virtual haptic geometry corresponding to the target feature is activated in response to the detected presence of the reference point of the instrument within the threshold distance.