Multi-Arm Surgical Robotics With Integrated Navigation Alignment
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Solution Overview
Problem
Current robotic navigation systems in surgery are limited by inaccurate registrations, poor line of sight, passive guidance issues, single-arm functionality, and system movement hindrances, lacking flexibility and adaptability for various clinical applications.
Innovation Solution
A surgical robotic system with integrated navigation and multiple surgical arms, including a moveable base station, on-board computer, navigation camera, display, and pair of surgical arms, allowing for simultaneous or sequential performance of independent surgical tasks, with collaborative motorized sub-systems controlled by both software and manually.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single robotic arm is used for navigation, then the system structure is simple, but only one surgical action can be performed at a time and surgical efficiency is limited
Solution Approach 1:
The robotic system integrates multiple surgical arms (at least two) that can each perform different surgical tasks simultaneously or sequentially. Each arm is equipped with end effectors that can be configured for various surgical instruments, enabling the system to handle multiple surgical actions concurrently, thereby improving surgical efficiency without requiring separate systems for each function.
Solution Approach 2:
The robotic system divides the surgical functionality into separate modular arms, each capable of independent operation. This segmentation allows different arms to perform different surgical tasks simultaneously (e.g., one arm for navigation, another for instrument manipulation), resolving the limitation of single-action systems while maintaining manageable complexity through modular architecture.
2Adaptability or versatility
If the robotic system is fixed in position, then system stability is high, but system movement is hindered intraoperatively and during transport
Solution Approach 1:
The robotic system employs a moveable base station that can be repositioned intraoperatively and during transport, transitioning between mobile and stable states as needed. This dynamic capability allows the system to adapt to different surgical scenarios and patient positions while maintaining operational stability when positioned for surgery.
Solution Approach 2:
The system's positional parameters are made variable through the moveable base station design, allowing changes in location and orientation during transport and setup. Once positioned, the system can lock or stabilize its parameters to maintain precision during the surgical procedure, thus balancing mobility and stability requirements.
3Measurement precision
If passive guidance is used, then the system is simple to operate, but patient movement cannot be compensated and navigation accuracy deteriorates
Solution Approach 1:
The robotic system incorporates active guidance with real-time feedback mechanisms that continuously monitor patient position, surgical instrument location, and navigation data. This feedback loop enables dynamic compensation for patient movement and maintains navigation accuracy throughout the procedure, overcoming the limitations of passive guidance systems.
Solution Approach 2:
The system performs preliminary registration and calibration procedures before surgery begins, establishing accurate initial navigation parameters. During surgery, continuous updates are made based on real-time data, ensuring that navigation accuracy is maintained despite patient movement or procedural changes.
4Adaptability or versatility
If the surgical arm is rigidly fixed to bone, then navigation reference is stable, but the arm cannot be repositioned for different surgical tasks
Solution Approach 1:
The surgical arms are designed with dynamic attachment capabilities, allowing them to be rigidly fixed to bone when navigation stability is required, and repositioned or removed when different surgical tasks are needed. The system can transition between fixed and mobile states based on procedural requirements.
Solution Approach 2:
The system uses separate modular arms that can be independently attached or detached from bone. This segmentation allows one arm to remain fixed as a navigation reference while another arm can be repositioned or removed to perform different surgical functions, maintaining both stability and versatility.
Data Source
AI summary
Devices, systems, and methods for a robot-assisted surgery. A surgical robotic system with integrated navigation and multiple surgical arms may assist a user with one or more surgical procedures. In addition to the multiple surgical arms, the robotic system may also have peripheral arms to position a navigation camera and surgeon displays. The robotic system is collaborative to allow for easy integration into procedural workflows, for example, to install pedicle screws, interbody implants, or other surgical devices.