Haptic Pedicle Screw Insertion With Robotic Trajectory Control
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Solution Overview
Problem
Robotic surgical systems underutilize the robotic manipulator during pedicle screw insertion, leading to a loss of haptic and sensory feedback for surgeons, resulting in reduced confidence, emotional stress, and poor procedural efficacy due to the inability to perceive tissue interaction.
Innovation Solution
A robotic surgical system with a haptic device and actuator that provides haptic feedback by emulating the interaction between a screw and the target site, allowing surgeons to maintain control through a manually manipulatable interface, and includes controllers to autonomously or manually control the surgical tool's rotation and advancement based on thread geometry.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robotic manipulator autonomously controls the surgical tool to rotate and advance the screw, then the precision and consistency of screw insertion are improved, but the surgeon loses haptic feedback and sensory information about tissue interaction
Solution Approach 1:
The system implements haptic feedback through a haptic device that provides resistive force to the operator's manual manipulation. The controller receives force data from the haptic device and adjusts the autonomous control of the surgical tool accordingly, creating a closed-loop feedback system that restores sensory information about tissue interaction while maintaining robotic precision
Solution Approach 2:
The haptic device acts as an intermediary between the surgeon and the robotic system. It translates the surgeon's manual manipulation into controlled surgical actions while providing tactile feedback about tissue interaction, serving as a mediator that connects human intuition with robotic precision
2Device complexity
If the robotic manipulator is used minimally for positioning only, then the system complexity is reduced, but the underutilization of the robotic manipulator leads to poor procedural efficacy
Solution Approach 1:
The robotic manipulator is designed to perform multiple functions: positioning the surgical tool, autonomously rotating the screw, and advancing the screw along the planned trajectory. This multi-functionality maximizes the utilization of the robotic system while maintaining procedural efficacy
Solution Approach 2:
The system transitions from static robotic positioning to dynamic autonomous control during screw insertion. The controller dynamically adjusts the surgical tool's rotation and advancement based on real-time feedback, enabling the robotic manipulator to adapt to varying surgical conditions
3Loss of information
If the surgeon manually controls the drilling and screw insertion, then haptic feedback is maintained, but the robotic manipulator is underutilized and positioning precision is reduced
Solution Approach 1:
The surgical procedure is segmented into distinct phases: robotic positioning of the surgical tool along the planned trajectory, followed by autonomous rotation and advancement of the screw. This segmentation allows the surgeon to benefit from robotic precision in positioning while maintaining haptic feedback during the insertion phase through the haptic device
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
Enhances surgeon confidence and procedural efficacy by providing haptic feedback that mimics tissue interaction, allowing precise and controlled pedicle screw insertion.
Implementation Method 1
a haptic device comprising an actuator and a rotational interface coupled to the actuator and the rotational interface being configured to be manually manipulatable by a hand of an operator... control the haptic device to provide haptic feedback to enable the rotational interface to emulate the present interaction between the screw and the target site
Data Source
AI summary
Disclosed herein are techniques including a robotic manipulator including a surgical tool to interface with and rotate the screw about a rotational axis. A haptic device includes an actuator and a rotational interface coupled to the actuator and the rotational interface is manually manipulatable by a hand of an operator. One or more controllers control movement of the robotic manipulator to maintain the rotational axis of the surgical tool along a planned trajectory; autonomously control the surgical tool to rotate the screw at a rotational rate about the rotational axis and to linearly advance the screw at an advancement rate according to a known thread geometry of the screw; obtain a measurement indicative of a present interaction between the screw and the target site; and control the actuator of the haptic device to enable the rotational interface to emulate the present interaction between the screw and the target site.