Total Knee Arthroplasty Robot Planning for Dynamic Prosthesis Alignment
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Solution Overview
Problem
Current surgical robots for total knee arthroplasty face challenges such as incomplete image registration, optical tracking deviations, and robot motion errors, leading to inaccurate operations and potential discomfort for patients due to imprecise prosthesis placement.
Innovation Solution
A total knee arthroplasty robot auxiliary system with a preoperative and intraoperative planning system that includes image registration, dynamic spacing force line data acquisition, and a surgical robot to guide bone-cutting, ensuring accurate prosthesis placement and alignment with six bone-cutting planes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional joint replacement surgery is performed relying on surgeon experience and estimation, then the operation can be completed with simple equipment and procedures, but the matching accuracy of the prosthesis and the femur and tibia cannot be ensured
Solution Approach 1:
The system performs preoperative planning including image registration, bone surface scanning, and prosthesis positioning simulation before the actual surgery. This preliminary modeling and measurement phase allows the surgical plan to be optimized in advance, ensuring high matching accuracy when the prosthesis is implanted during the operation.
Solution Approach 2:
The patent replaces traditional mechanical measurement tools and surgeon estimation with a robot-assisted system that uses optical tracking, image registration, and computer-controlled positioning. This substitution of mechanical/manual methods with automated optical and computational systems enables precise measurement and positioning without requiring complex manual instrumentation during surgery.
2Measurement precision
If surgical robot is used to carry out individualized modeling and measurement, then accurate and safe operation can be ensured, but incomplete image registration and optical tracking deviation occur leading to inaccurate operation
Solution Approach 1:
The system implements real-time optical tracking that continuously monitors the position of surgical instruments and bone surfaces during the operation. The tracking data is fed back to the control system, which compares actual positions with planned positions and provides real-time correction guidance to maintain registration accuracy and compensate for any deviations that occur during surgery.
Solution Approach 2:
The patent employs dynamic image registration that can adapt to changes in bone position and deformation during surgery. The system continuously updates the registration model based on real-time tracking data, allowing it to maintain accuracy even when the bone structure shifts or deforms during the surgical procedure, rather than relying on a static preoperative model.
3Reliability
If robot motion error is not corrected, then the system structure remains simple, but the prosthesis placement accuracy deteriorates resulting in patient discomfort and affecting prosthesis life
Solution Approach 1:
The control system continuously monitors the actual position and motion of the robot during surgery and compares it with the planned trajectory. When deviations are detected, the system automatically calculates correction values and adjusts the robot's motion in real-time to compensate for mechanical errors, ensuring that the bone-cutting guide and prosthesis are positioned with high accuracy despite inherent robot motion errors.
Solution Approach 2:
The system dynamically adjusts operational parameters such as robot position, orientation, and motion speed based on real-time feedback and pre-calculated error compensation models. By changing these parameters adaptively during the surgical procedure, the system compensates for robot motion errors without requiring fundamental changes to the robot's mechanical structure, thus maintaining placement accuracy while controlling system complexity.
Data Source
AI summary
The present application provides a total knee arthroplasty robot auxiliary system, a control method, electronic device and a computer readable medium. The auxiliary system comprises: a preoperative planning system configured to formulate a preoperative plan, preoperative plan data including a knee joint image; an intraoperative planning system configured to formulate an intraoperative plan, wherein the knee joint image in the preoperative plan and a knee joint surface contour of the patient determined in an operation are subjected to image registration, knee joint dynamic spacing force line data at a continuous flexion-extension angle is acquired, a dynamic spacing force line data graph is visually displayed, and a prosthesis plan is adjusted according to the visual display of the dynamic spacing force line data graph to obtain the intraoperative plan; and an executing system, wherein a bone-cutting guide mounted at an operating end of a mechanical arm of a surgical robot is guided to be located in a planned predetermined position according to the intraoperative plan, and the bone-cutting guide is configured to locate a bone-cutting saw.