Head-Mounted Hexapod Jaw Repositioning Without Image Registration
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Solution Overview
Problem
Current robotic systems are bulky and require extensive setup, limiting their use in orthognathic surgery, and no system exists to precisely reposition jawbones without complex device-to-image registration and tracking, leading to potential human error and complications.
Innovation Solution
A compact, head-mounted robotic system with a six-degrees-of-freedom mechanism directly attached to the patient's skull, eliminating the need for continuous tracking and providing precise jawbone repositioning by integrating with a surgeon's instructions, using a hinge-connected end-effector arm and computer-controlled hexapod system for precise adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a standard robotic arm is used to autonomously reposition jawbones, then surgical precision is improved, but device complexity and setup requirements increase
Solution Approach 1:
The patent merges the robotic positioning system with the patient's head by directly mounting the robot on the skull. This integration eliminates the need for separate device registration and tracking processes, as the robot's coordinate system becomes fixed relative to the patient's anatomy. The end effector is directly coupled to the jawbone through a mounting bracket, combining positioning and manipulation functions into a unified system.
Solution Approach 2:
The patent introduces a mounting bracket as an intermediary component that directly attaches the robotic end effector to the jawbone. This bracket serves as a mechanical mediator that eliminates the need for complex optical tracking and registration systems, providing a direct mechanical coupling between the robot and the surgical target.
2Ease of operation
If manual positioning tools are used, then ease of operation is maintained, but positioning precision deteriorates
Solution Approach 1:
The patent creates a dynamic system where the robotic end effector can be manually manipulated by the surgeon through direct mechanical coupling with the jawbone. The system allows the surgeon to feel and control the jawbone's position through tactile feedback from the robotic arm, combining the precision of robotics with the intuitive control of manual tools. The hinge connection allows flexible positioning while maintaining mechanical coupling.
Solution Approach 2:
The robotic system is designed to be self-manipulable by the surgeon through direct mechanical interaction. The end effector's wrist and fingers can be manually positioned and adjusted by the surgeon's hand, allowing the system to serve itself through direct human control rather than requiring complex automated positioning systems.
3Measurement precision
If complex device registration and tracking are implemented, then positioning accuracy is improved, but device complexity and setup time increase
Solution Approach 1:
The patent performs preliminary action by directly mounting the robotic system to the patient's head before the surgical procedure begins. The robot is rigidly fixed to the skull using a mounting structure that establishes a stable coordinate system in advance. This preliminary setup eliminates the need for continuous registration and tracking during the surgery, as the spatial relationship between the robot and patient anatomy is predetermined and fixed.
Data Source
AI summary
A robotic device mounted on the head of a patient has a pivoted arm that extends down to support an article, such as a part of the jaw of the patient in orthognathic surgery. The pivoted arm is on a support plate that is in turn supported by a hexapod assembly that connects with a U-shaped bracket secured to the patient's head. The hexapod is computer controlled to adjust the position of the support plate relative to the head of the patient to precisely locate the supported article on the patient, such as where a separated portion of the patient's jaw is positioned for reattachment in orthognathic surgery.