Haptic Surgical Instrument Alignment Without Mechanical Jigs
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Solution Overview
Problem
Conventional surgical alignment methods, both mechanical and virtual, are inefficient for precise alignment of surgical instruments, particularly in minimally-invasive procedures, leading to prolonged surgeries and increased costs due to manual adjustments.
Innovation Solution
A computer-assisted surgery system using haptic feedback to guide surgical instruments by establishing a virtual haptic geometry that constrains the instrument's movement to a target orientation and position, providing real-time alignment assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If mechanical guide elements (jigs) are used to enhance alignment accuracy, then manufacturing precision is improved, but device complexity and procedure time increase
Solution Approach 1:
The patent replaces mechanical guide elements (jigs) with a haptic feedback system that provides force feedback to guide the surgical instrument. The system uses a haptic object with collapsible geometry that generates haptic forces to constrain and guide the instrument along the desired trajectory, eliminating the need for physical mechanical guides while maintaining alignment accuracy.
Solution Approach 2:
The patent introduces a haptic object as an intermediary between the surgical instrument and the surgeon's control. This haptic object with collapsible geometry acts as a mediator that provides force feedback and haptic constraints to guide the instrument, replacing the direct mechanical guidance of traditional jigs with an intermediate haptic interface.
2Manufacturing precision
If mechanical jigs are installed in proximity to bone during surgery, then alignment precision is improved, but loss of time increases due to installation and positioning requirements
Solution Approach 1:
The patent replaces time-consuming mechanical jig installation with a digital haptic guidance system. The haptic object with collapsible geometry is implemented through force feedback controls that provide real-time guidance without requiring physical installation, positioning, or removal of mechanical guides during the surgical procedure.
3Manufacturing precision
If virtual guides with force feedback controls are used to constrain instrument movement, then alignment precision is improved, but ease of operation decreases due to manual searching for proper orientation
Solution Approach 1:
The patent implements a dynamic haptic object with collapsible geometry that adapts its constraints based on the instrument's position and orientation. The haptic forces dynamically adjust to guide the instrument along the desired trajectory, providing progressive constraint that becomes more restrictive as the instrument approaches the target, making alignment easier while maintaining precision.
Solution Approach 2:
The patent uses haptic feedback controls that provide real-time force feedback to the surgeon based on the instrument's deviation from the desired trajectory. The collapsible geometry of the haptic object creates dynamic haptic constraints that provide continuous feedback, guiding the instrument to the proper orientation without requiring manual searching, thereby improving both precision and ease of operation.
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 and accurately aligns surgical instruments with patient anatomy, reducing surgery time and costs by guiding instruments to the correct orientation and position using haptic feedback.
Implementation Method 1
A computer-implemented method using a haptic feedback system that determines the orientation angle of a surgical instrument relative to a target axis and applies haptic forces to constrain the instrument within a collapsible virtual haptic volume
Data Source
AI summary
A method for robotically-assisted surgery includes robotically providing a constraint on movement of an instrument and removing the constraint in response to the instrument moving into alignment with a target axis.