Optical Vertebral Localization for X-Ray-Free Robotic Spine Surgery
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Solution Overview
Problem
Existing robotic spine surgery systems require intraoperative X-ray imaging, leading to patient and surgical team irradiation, and are prone to precision issues due to vertebral movement, especially when implanting screws or cages far from the fixed marker.
Innovation Solution
A spine surgery system using preoperative mapping data and a vertebral localization element with a mating surface and optical marker, combined with a robot arm and optical sensor, to precisely position the end effector member relative to the vertebra without X-ray imaging, ensuring real-time precision and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If intraoperative X-ray imaging is used for robotic spine surgery positioning, then real-time positioning capability is achieved, but patient and surgical team irradiation occurs
Solution Approach 1:
The patent replaces the X-ray imaging system with an optical sensing system. Instead of using electromagnetic radiation (X-rays) to visualize bone structures, the system uses optical sensors to detect reflective markers placed on the spine and vertebrae. This substitution eliminates radiation exposure while maintaining real-time positioning capability through optical tracking of marker positions.
Solution Approach 2:
The patent creates a visual copy or representation of the spinal anatomy through optical markers and reflective surfaces. Rather than directly imaging the bone structure with X-rays, the system uses markers that reflect optical signals to create a detectable representation of the spine's position and orientation, which can be tracked by optical sensors without radiation.
2Reliability
If a fixed marker is used on the spine for robotic positioning, then positioning reference is established, but precision deteriorates when vertebrae move relative to the marker
Solution Approach 1:
The patent transitions from a static, fixed marker system to a dynamic marker system that moves with the vertebrae. The optical markers are attached to or integrated with the vertebral structures themselves, allowing them to dynamically follow the motion of the spine. This ensures that the positioning reference always remains accurate relative to the actual vertebral position, even during patient movement or respiratory motion.
Solution Approach 2:
The system continuously monitors the position of optical markers on the spine through optical sensors and provides real-time feedback to the robotic system. When vertebrae move relative to the marker or when the patient moves, the system detects these changes and automatically adjusts the positioning calculations to maintain precision, creating a closed-loop feedback mechanism that compensates for motion.
3Measurement precision
If camera-based recognition is used to track instruments, then instrument positioning is achieved, but time consumption increases due to systematic identification requirements
Solution Approach 1:
The optical markers and reflective surfaces are designed to be automatically detected and tracked by the optical sensors without requiring manual identification or systematic recognition processes. The markers provide inherent positioning information that the system can automatically interpret, eliminating the need for time-consuming manual instrument recognition while maintaining precise positioning.
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
Enables precise and secure robotic positioning of surgical instruments relative to vertebrae without X-ray exposure, reducing radiation and improving surgical precision by using preoperative data and optical sensors.
Implementation Method 1
an optical sensor device, which is at least partially carried by the end effector member and which is able to, when the vertebral localization element is coupled to the vertebra, observe the three-dimensional optical marker of the vertebral localization element and deduce in real time positioning data concerning the relative position between the three-dimensional optical marker and the end effector member
Data Source
AI summary
The disclosed spine surgery system includes preoperative mapping data relating to a patient vertebra, a vertebral localization element having a mating surface specific to the patient able to be coupled to the vertebra in a unique fixed position and a three-dimensional optical marker, a robot including a movable arm and carrying an end effector member, an optical sensor device at least partially carried by the end effector member and able to observe the marker of the vertebral localization member and deducing therefrom, in real time, the relative positioning data between this marker and the end effector member, and a processing unit that determines in real time the relative positioning between the end effector member and the vertebra, by calculating, in a three-dimensional spatial frame, the position of the end effector member and by it with a region of space occupied by the vertebra as modeled.