Multi-Arm Endoscopic Robotics for Larger Spinal Surgery Tools
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Endoscopic spine surgery is limited by the use of single endoscope ports restricting tool size and coordination challenges with multiple arms, especially in spinal decompression and fusion procedures, requiring high skill and radiation exposure.
Innovation Solution
A multi-arm robotic system with coordinated endoscopic ports and optical visualization, using preoperative imaging for registration and real-time adjustment, allows for larger tools and reduced radiation by generating a virtual field of view and maintaining anatomical accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a single endoscope port with multiple channels is used, then the port size is restricted to a few millimeters in diameter, but this restricts the size of tools that can be used for spinal decompression and fusion procedures
Solution Approach 1:
The system divides the endoscopic function into separate ports: one port dedicated to the endoscope and another port dedicated to surgical tools. This segmentation allows each port to be optimized independently, enabling larger tool diameters without compromising endoscopic visualization capabilities.
2Adaptability or versatility
If a second endoscopic arm with a single channel is used to allow larger tools, then tool size is increased, but the surgeon lacks direct visibility of the surgical field when coordinating two arms
Solution Approach 1:
The system incorporates real-time feedback through the endoscopic camera that provides continuous visual information about the surgical field. This feedback loop allows the surgeon to monitor tool positions and surgical progress, enabling coordinated manipulation of multiple arms with full visibility of the operative area.
Solution Approach 2:
The endoscopic camera acts as an intermediary that translates the surgical field into visual information for the surgeon. This mediator enables the surgeon to coordinate multiple robotic arms indirectly through visual feedback, overcoming the limitation of lacking direct line-of-sight visibility.
3Ease of operation
If traditional open surgery is performed, then adequate tool access and direct visibility are achieved, but significant tissue damage and blood loss occur
Solution Approach 1:
The system replaces traditional mechanical open surgery with a robotic-assisted endoscopic system. This substitution enables adequate tool access through minimally invasive percutaneous approaches while maintaining precise control and direct visual feedback, thereby avoiding the significant tissue damage and blood loss associated with open procedures.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A system for endoscopic surgery, comprising a first robotic arm defining the pose of an endoscopic camera, a second robotic arm defining the pose of a surgical end effector, and an irrigation nozzle configured to inject fluid under a predetermined pressure into a preselected tissue region, to generate a cavity at a surgical site. The cavity enables the camera to take images of the features of the surgical site. A controller is used to control both robotic arms, such that the pose of the endoscopic camera and the pose of the surgical end effector are known to the controller. The camera can then acquire intraoperative images of the cavity, such that an endoscopic operation can be performed in the cavity with the surgical end effector guided using the intraoperative images. Anatomic features imaged intraoperatively by the camera can be identified from preoperative images, using image registration.