Limb Holder Stiffness Feedback for Robotic Bone Surgery
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Solution Overview
Problem
Robotic surgical systems face inaccuracies due to the movement of the surgical site when the patient is loosely secured, causing the instrument to continually miss the target, leading to unnecessary delays.
Innovation Solution
A robotic system that measures the force applied to the limb, determines stiffness and damping characteristics, and adjusts its operation to account for these characteristics, ensuring accurate positioning of the surgical instrument.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the patient is loosely secured in the surgical holder, then the surgical site can move freely, but the surgical instrument cannot accurately reach the target
Solution Approach 1:
The system continuously measures the position of the surgical site using sensors and feeds this information back to the control system. The control system then adjusts the robotic manipulator's movements in real-time to compensate for the site's movement, ensuring accurate targeting despite the lack of rigid fixation
Solution Approach 2:
The system transitions from a static positioning approach to a dynamic one, where the control system actively adapts to changing positions of the surgical site during the procedure. The manipulator continuously adjusts its trajectory to maintain accuracy as the site moves
2Manufacturing precision
If the robotic system rigidly fixes the patient, then the surgical site remains stationary, but the system loses adaptability to anatomical variations
Solution Approach 1:
The system changes the control parameters of the robotic manipulator based on real-time measurements of the surgical site's position and characteristics. By adjusting parameters such as position, speed, and trajectory dynamically, the system adapts to anatomical variations while maintaining positioning accuracy
3Ease of operation
If the surgical holder allows slight movements, then the patient can be less constrained, but the position control loop continuously pushes the target out of reach
Solution Approach 1:
The real-time feedback system allows the robotic manipulator to automatically track and compensate for the surgical site's movements, eliminating the need for continuous manual adjustment and reducing procedural delays while maintaining patient comfort
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 achieves precise and efficient surgical instrument placement by autonomously adapting to the anatomy's movement, reducing delays and improving surgical accuracy.
Implementation Method 1
a force-applying device configured to apply a force to the limb
Implementation Method 2
measure a displacement of the limb responsive to the force applied to the limb
Implementation Method 3
obtain a mass of the limb
Data Source
AI summary
Surgical systems and methods for treating a bone of a patient. The bone is part of a limb of the patient and the limb is held by a limb holder. The surgical system includes a robotic manipulator to support and move a surgical instrument to treat the bone. A force-applying device is configured to apply a force to the limb. Controller(s) are coupled to the force-applying device and the robotic manipulator. The controller(s) obtain the force applied to the limb by the force-applying device, measure a displacement of the limb responsive to the force applied to the limb, and obtain a mass of the limb. From this information, the controller(s) determine stiffness and damping characteristics of the limb and control the robotic manipulator to treat the bone with the surgical instrument in a manner that accounts for the stiffness and damping characteristics of the limb.