Keel Punch Alignment Guide for Robotic Joint Surgery
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Solution Overview
Problem
Current robotic surgical systems face challenges in accurately and efficiently aligning a keel punch in a planned position and orientation relative to a bone during joint replacement procedures, due to patient positioning and workspace constraints, which can lead to increased surgical time and potential misalignment errors.
Innovation Solution
A system comprising a keel punch alignment guide, a keel post tool, and securements is used to guide the keel punch in forming keel receiving features, allowing for precise alignment without requiring the bone to be fixed to the surgical robot, thus enabling repositioning of the patient without losing alignment and eliminating the need for tool changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the bone is fixed to the surgical robot for alignment, then alignment precision is improved, but surgical time increases and patient repositioning becomes difficult
Solution Approach 1:
The patent introduces a keel punch alignment guide as an intermediary device between the bone and the surgical robot. The guide aligns with the planned implant position and can be directly positioned on the bone without requiring fixation to the robot, enabling accurate alignment while allowing patient repositioning and reducing surgical time.
Solution Approach 2:
The alignment process is segmented into separate functions: the surgical robot prepares the bone and defines the planned position, while the keel punch alignment guide is independently positioned on the bone to receive the keel punch. This segmentation eliminates the need to fix the entire bone to the robot, reducing surgical time and improving flexibility.
2Manufacturing precision
If the surgical robot mills keel receiving features directly, then manufacturing precision is improved, but workspace constraints and patient positioning limitations worsen
Solution Approach 1:
The keel punch alignment guide serves as an intermediary that transfers the planned position from the surgical robot to the actual keel punch insertion. The guide can be positioned on the bone regardless of robot workspace constraints, maintaining precision while improving adaptability to patient positioning requirements.
Solution Approach 2:
The surgical robot performs preliminary actions by preparing the bone surface and defining the planned implant position before the actual keel punch insertion. This preliminary preparation enables the use of a simple alignment guide for the final precise positioning, overcoming workspace limitations.
3Device complexity
If manual keel punch alignment is performed without robotic assistance, then device complexity is reduced, but alignment precision deteriorates
Solution Approach 1:
The keel punch alignment guide acts as a simple intermediary device that provides alignment references without requiring complex robotic mechanisms. The guide incorporates visual or tactile cues that enable accurate alignment while maintaining low device complexity and avoiding the need for end-effector fixation.
4Extent of automation
If the end-effector is used for keel punch alignment, then automation level is improved, but the robot becomes vulnerable to manual punching forces
Solution Approach 1:
The patent extracts the high-force manual punching operation from the robotic end-effector. The surgical robot is used only for preliminary bone preparation and defining the planned position, while the actual keel punch insertion is performed manually through the alignment guide. This separation protects the robot from damaging forces while maintaining automation benefits.
Data Source
AI summary
A system and method are provided for aligning a keel punch in a planned position and orientation relative to a subjects bone in a time efficient manner, which forms keel receiving features in the subjects bone with the accuracy and precision of a surgical robot. The system and method provided removes prior surgical constraints and allows a surgeon to reposition the patient prior to punching the keel receiving features without losing the alignment, and protects the robot from the forces required to punch the keel features manually, which would otherwise occur if the surgical robot were to fixedly hold the keel punching tool in place while punching the keel features. The provided method does not require a tool change, or require an end-effector to be fixedly attached to any of the components while aligning the keel punch alignment guide on the subjects bone.